基于关节约束的欠驱动五指灵巧手设计与验证

Design and verification of an underactuated five-finger dexterous hand based on joint constraints

为满足护理机器人末端执行机构的灵巧性与手指姿态可控性要求,设计了一种基于关节约束的欠驱动五指灵巧手,该灵巧手结合电磁技术和变胞机构思想,可实现手指各自由度的单独控制。在所建立的欠驱动五指灵巧手食指模型基础上,开展运动学分析,获取工作空间范围;利用ANSYS Electronics软件,进行旋转关节电磁仿真研究;利用灵巧手的样机,开展包络抓取和精确抓取试验验证。结果表明,该欠驱动五指灵巧手利用旋转关节的电磁约束,可有效实现对自由度的单独控制,并使手指指尖到达工作空间边缘点。研究结果为实现护理机器人灵巧手的小型化、轻量化及灵活稳定抓取提供了新的选择。

In this article,In order to meet the requirements on dexterity and operability of the end effectors of the nursing robots in performing grasping tasks,an underactuated five-finger dexterous hand based on joint constraints is designed.The hand,which combines the electromagnetic approaches and the metamorphic mechanism,realizes independent control of the finger’s each joint even if underactuation is applied.The analysis is conducted on its kinematic characteristics and the range of workspace is identified.The ANSYS Electronics software is adopted to explore the movement of each joint in the process of electromagnet simulation.The experiment is carried out on the prototype hand’s enveloped grasping and accurate grasping.The results show that the underactuated five-finger dexterous hand realizes independent control of the finger’s each joint by means of electromagnetic constraint,and all the fingertips reach the edge of the workspace.This research provides a new approach to the design of compact,lightweight dexterous hands that offer stable grasping to various objects for nursing robots.