基于欠驱动原理的多指灵巧手结构设计及实验研究

Structure design and experiment of multi-finger dexteroushand based on underactuated principle

针对传统的多指灵巧手手指驱动源多、结构复杂,抓取过程中驱动电机保持堵转状态导致发热量大、寿命短,以及无法准确感知目标物体的位姿并施加合理的抓取力等问题,对灵巧手手指结构、系统构型及传感器等方面进行了研究。提出了一种具有欠驱动特性及自锁特性的多指灵巧手手指结构方案及具有不同承载能力的腱传动结构方案,设计了二指、三指及五指灵巧手系统构型,开发了高灵敏度、低成本一维力传感器及触觉传感器;以三指灵巧手为例,加工了实验样机,利用实验样机进行了相关实验。研究结果表明:该灵巧手的手指结构能够有效降低驱动源数量,实现机构减重,通过更改腱传动机构,可实现不同承担不同负载,具有较好的安全性和可靠性,一维力传感器及触觉传感器具有较高的灵敏度、准确性及低成本特性,该灵巧手指具有较高的重复定位精度,可完成针对不同形状物体的稳定、可靠的抓取任务。

Aiming at the problems of the traditional multi-finger dexterous hand,such as many driving sources,complex structure,high heat and short life caused by the driving motor in the process of grasping;at the same time,it was unable to accurately perceive the position and pose of the target object and exert reasonable grasping force,so that the finger structures,system configuration and sensors of the dexterous hand were studied.A multi-finger dexterous hand with underactuated and self-locking characteristics and a tendinous transmission structure with different bearing capacity were proposed.The system configurations of two-finger,three-finger and five-finger dexterous hands were designed.A high sensitivity,low-cost one-dimensional force sensor and a touch sensor were developed.Taking the three-finger dexterous hand as an example,the experimental prototype was processed,and relevant experiments were carried out with the experimental prototype.The results indicate that the finger structure of the dexterous hand can effectively reduce the number of driving sources and realize the weight reduction of the mechanism.By changing the tendinous transmission mechanism,the dexterous hand can bear different loads with better safety and reliability.The one-dimensional force sensor and tactile sensor have higher sensitivity,accuracy and low cost characteristics.The dexterous finger has higher repeated positioning accuracy and can achieve stable and reliable grasping tasks of various objects with different shapes.