气动柔性五指机械手运动空间与抓取实验研究

Experimental Research on Movement Space and Grasping of Pneumatic Flexible Five-finger Manipulator

设计了一种气动柔性五指机械手,采用单驱动型和多驱动型单向弯曲柔性关节作为单自由度手指关节,可完成多自由度抓、握、捏等人手灵活动作;搭建机械手运动学实验平台和抓取实验系统,利用3D运动捕捉系统,得到了机械手各手指运动空间,机械手可稳定抓取日常生活中不同外形和质量的物体,验证了其有类似人手的抓取能力.实验结果表明:机械手各手指基本完成了设计要求,实现各自抓取功能,具有良好的柔顺性和适应性.

A pneumatic flexible five-finger manipulator is designed,which uses single-drive and multi-drive unidirectional bending flexible joints as single-degree-of-freedom finger joints,which can perform multi-degree-of-freedom grasping,grasping,pinching and other flexible hand movements;build a kinematics experiment platform for the manipulator And the grasping experimental system,using the 3D motion capture system to obtain the movement space of the fingers of the manipulator,the manipulator can stably grasp objects of different shapes and qualities in daily life,which verifies that it has a grasping ability similar to that of a human hand.The experimental results show that the fingers of the manipulator basically fulfill the design requirements,realize their own grasping functions,and have good flexibility and adaptability.