仿生机械灵巧手的手指设计

Design of Finger with Bionic Dexterous Robot Hand

针对医疗假肢手指难以解决残疾人日常生活问题的情况,结合人体手指运动的机理,设计了一种仿生机械灵巧手。该机械灵巧手由手掌体、设在手掌体上的1根大拇指和4根手指构成;大拇指由两拇指段构成,大拇指单自由度转动连接于手掌体;四指结构形式一致,且由2个手指段构成,二者之间采用单自由度转动连接。基于指数积公式对所设计的灵巧手进行运动学分析,求解相关数学模型;采用UG软件对灵巧手进行仿真分析,结果表明:所设计的灵巧机械手能满足残疾人简单握持及敲打等日常需要,对康复机械设计有一定的参考价值。

According to that the medical prosthetic finger is difficult to achieve the daily lives of persons with disabilities and other issues,combined with the mechanism of human finger movement,a bionic robot dexterous hand is designed. And the mechanical dexterous hand is consist of a palm,the thumb and four fingers. The two thumb segments are designed in the palm with a single degree of freedom rotational connection. The four refers to the structure,consists of two fingers,are designed with single degree of freedom rotational connection. Then,the kinematic mathematical model of the dexterous hand is solved based on the POE. Finally,the simulation analysis of the dexterous hand by UG software shows that the fingers of manipulator designed can meet the disabled simple grip and beating other daily problems, and it provides certain reference value for the rehabilitation of mechanical design.