推拿灵巧手的设计与动力学仿真

Design and dynamic simulation of dexterous hand

在串、并联机械臂的基础上提出四指灵巧手。该灵巧手有4根手指,每根手指有2个关节,通过连接关节,灵巧手仅有4个自由度,完成以舵机为驱动和LSC-16为控制器的驱动系统设计,与机械臂配合可以执行拍法、指揉法、掌揉法、捏法、振法等传统推拿手法,提高推拿机器人的自动化程度。

Based on the serial and parallel manipulators,a four finger dexterous hand is proposed.The dexterous hand has four fingers,and each finger has two joints.By connecting the joints,the dexterous hand has only four degrees of freedom.The driving system is designed with the steering gear as the drive and lsc-16 as the controller.Cooperating with the mechanical arm,it can perform traditional massage techniques such as beating,finger kneading,palm kneading,kneading and vibration,which improves the automation of the massage robot.