力反馈主从仿人机械手的结构设计

Design of master-slave humanoid hands with force-feedback

为了实现遥控操作机器人系统中的力反馈,设计了主从式仿人机械手结构。主从手均采用绳传动欠驱动方式,每根手指由1个电机带动,力反馈装置均设置在两个机械手结构的指尖处。实验结果表明,该主从手结构能实现仿人灵活操作和力反馈,并能将反馈力的误差控制在1.5N以内。

In order to implement force feedback in remotely operation robot systems, the paper introduces a design of master-slave humanoid hands with force-feedback. The underactuated master and slave hands are driven via ropes with each finger driven by a motor. The force feedback sensors are installed at the fingertips of the master and slave hands. Experimental results show that the master-slave structure can achieve force-feedback with an accuracy of 1.5N.