基于气囊结构的腱驱灵巧手

Tendon Driven Dexterous Hands Based on Airbag Structure

提出了一种基于气囊结构的腱驱灵巧手,具有驱动简单、质量轻、柔性等优点。介绍了灵巧手腱绳驱动的手指结构和气囊驱动的根关节结构;建立了灵巧手指的运动学模型并求得运动空间,推导了指尖的运动学模型;分析了增加气囊驱动结构后手指的侧摆力、侧摆力矩和侧摆角度,进行了三维运动仿真;搭建实验平台,对灵巧手进行了性能测试,通过各类物体的抓取实验,验证了研制的基于气囊结构的腱驱动灵巧手设计的有效性。

A tendon driven dexterous hand based on airbag structure is proposed,which has the advantag⁃es of simple actuation,light weight and flexibility.Firstly,the finger structure of the dexterous hand driven by tendon rope and the root joint structure driven by airbag are introduced,where the root joint based on airbag structure consists of six parts:airbag,tension spring,rotating connector,bearing,circlip and palm connection support.Next,the kinematic model of the dexterous finger is established and the motion space is derived.At the same time,the kinematic model of the fingertip is derived,and the lateral swing force,lateral swing moment and lateral swing angle of the finger are analyzed after adding the airbag driving structure,and the 3D motion simula⁃tion is carried out.An experimental platform is built to test the performance of the dexterous hand,and the effec⁃tiveness of the developed tendon-driven dexterous hand design based on the airbag structure is verified through the grasping experiments of various objects.