基于3D打印技术的仿人机械手的设计及简易实现

Design and Simply Implementation of Manipulator Based on 3D Printing Technology

机械手是机器人的核心,在自动化生产过程中起着不可忽视的作用。设计了基于3D打印技术的机械手的结构以及控制系统,设计了适用于3D打印的各手指节及手掌,构建了机械手的整体结构。动力部分以舵机为动力源,通过单片机控制舵机,舵机驱动机械手的根指节,根指节与其他手指之间以鱼线和橡皮筋进行软联接。舵机通过拉伸鱼线并在橡皮筋的回复力作用下完成对手指的控制,从而模拟人手的各个活动,完成既定的任务。为基于3D打印技术的自动控制机械手的设计提供了参考方案。

In this paper,a structure and control system of a humanoid robotic manipulator are presented.The finger section and palm manufactured by 3D printer constitute the massive structure of the robot hand.The steering engines controlled by a single chip computer are the power source of the robot hand.The steering engines drive the root joints which are connected to the other joints by fishing lines and rubber bands.The steering engines control the fingers to simulate the action of mankind by stretching these fishing lines,with the help of the restoring force for the rubber bands.This paper presents a scheme to design a manipulator based on 3D printing technology.