三指灵巧手结构设计与动态抓取研究

Structural Design and Dynamic Grasping of Three-finger Dexterous Hand

针对目前多自由度灵巧手存在的结构复杂、体积庞大等问题,设计了一种结构紧凑、质量轻盈的电机直驱式8自由度三指灵巧手。通过微型电机与齿轮减速器配合使用,实现了关节直驱方式,减少了驱动力损耗,手指驱动力得到有效提高。针对灵巧手在动态抓取模式下的不足,通过嵌入式超声波传感器、压力传感器和角度传感器的联合使用,对灵巧手的动态抓取算法进行了研究。通过3D打印制作了三指灵巧手样机,并进行了抓取实验验证。实验表明,设计的三指灵巧手具有较强的抓取能力;通过多传感器的融合控制算法,可以使灵巧手对动态目标物实现准确、安全、稳定的抓取。

In view of the problem complex structure and large volume of high-DOF dexterous hand,a compact,light-weight,direct-drive 8-DOF three-finger dexterous hand is designed.Through the use of micro motor and gear reducer,the joint drive mode is realized,the driving loss is reduced,and the driving force of finger is effectively improved.Aiming at the shortcomings of dexterous hand in dynamic grasping mode,the dynamic grasping algorithm of dexterous hand is studied through the fusion of embedded ultrasonic sensor,pressure sensor and angle sensor.A three-finger dexterous hand prototype is made by 3D printing,and the grasping experiment is carried out.Experiments show that the designed dexterous hand has a strong grasping ability,and through the multi-sensor fusion control algorithm,the dexterous hand can achieve accurate,safe and stable grasping of moving objects.