欠驱动仿人多指手的虚拟样机建模和运动仿真

Virtual Modeling and Motion Simulation of Under-actuated Humanoid Multi-fingered Hand

随着上肢残疾人数的增加,对仿人型机器手的需求越来越多。基于钢丝绳传动的欠驱动多指仿人手,结构简单紧凑,重量轻,抓取稳定,灵活,可以根据目标物体形状自适应的振取物体。食指和拇指对捏、侧捏是人手日常生活中的经常操作,仿人手能否实现对捏、侧捏很大程度上决定仿人手设计是否成功。在仿人手虚拟样机设计阶段,利用MATLAB建模计算,用ADAMS运动仿真,两者相互结合,可以直观地验证仿人手食指、拇指主要设计参数是否合适,功能上能否实现对捏、侧捏,为之后的详细设计奠定基础。

With the increase of the number of upper limb disabilities, requirement of humanoid artificial hand is more and more. Under-actuated multi-fingeredprosthetic hand based rope driving has simple and compact structure, light weight and it can shape-adaptively grip objects stably and flexibly according to the target object shape. The index finger and thumb for pinch and lateral pinch are very often operated in everyday life. So pinch and lateral pinch largely determine the success of prosthetic hand design. In the guise of the preliminary design stage, combination of the use of MATLAB modeling calculations, and ADAMS movement simulation can visually verify if the main design parameters of prosthetic hand index finger and thumb are appropriate, functionally achieve the pinch and lateral pinch, so as to lay the foundation for the detailed design.