摘要
采用自主研发的气动柔性关节,仿人手外形研制了一种新型柔性灵巧手。该机械手为人手的1.5倍,每根柔性手指由两个气动柔性关节组成,通过调节关节内气压控制手指形变实现机械手抓取物体。利用三维运动捕捉系统和机械手气动实验平台进行了不同气压下柔性手指的运动学实验,分析了机械手工作空间,并进行了机械手抓取实验。实验结果表明:该机械手具有较好的柔性和物形适应性可实现多种抓取模式和完成不同类型物体抓取;五指握取时可抓持最大物体直径为220 mm,最小物体直径为50 mm,质量为1 kg的物品。
A new type of humanoid flexible robot hand is developed using the self-developed pneumatic flexible joint. The robot hand was 1.5 times the size of the human hand and each finger was composed of two pneumatic flexible joints. The fingers deformation was controlled by robot hand by regulating the pressure in each joint to grasp the objects. The kinematics experiments under various air pressures were made on pneumatic experimental platform by making use of three dimensional (3D) motion capture system. Furthermore, the workspace of robot hand was examined and the grasp experiments were completed. The experiments show that the robot hand has good flexibility and shape adaptability and it can accomplish a variety of grasp patterns to grasp different types of objects. The maximum and minimum diameter of the holding objects with five fingers is 220 mm and 50 mm, respectively. The maximum mass of the holding objects is 1 kg.
作者
刘晓敏
徐斌
赵云伟
耿德旭
姜旭
LIU Xiaomin;XU Bin;ZHAO Yunwei;GENG Dexu;JIANG Xu(Engineering Training Center, Beihua University, Jilin Jilin 132021,China;School of Mechanical Engineering,Beihua University, Jilin Jilin 132021,China)
出处
《机床与液压》
北大核心
2019年第15期24-28,共5页
Machine Tool & Hydraulics
基金
吉林省教育厅“十三五”科学技术项目(JJKH20190640KJ)
吉林市科技发展计划项目(20165001)
吉林省大学生创新创业计划项目(2017-2076)
关键词
机械手
柔性关节
工作空间
气压
Robot hand
Flexible joint
Workspace
Air pressure
