摘要
针对传统机械仿人手结构复杂、成本高、触觉感知能力差等问题,设计一种基于电磁动滑轮驱动的仿人手。通过双级驱动钢丝绳与电磁动滑轮十字垂直交叉方式,实现一个驱动电机对5根手指6个自由度的独立驱动控制。通过手指双关节与十字动滑轮串行绕线的连接方式,使每个手指关节具有驱动的相对独立性,提升了手指对物体外形被动适应能力。研制弹性光感装置并内置于手指关节和手掌结构中以提供相应复位力,通过对其负载和弯曲特性的研究建立光强与转角和负载力的数学模型,实现对手指压力和关节转角检测,并对样机进行了性能测试,可实现对常见物品的抓取。
Aiming at the problems of complex structure,high cost and poor tactile perception of traditional mechanical imitation hand,a kind of artificial hand driven by electromagnetic moving pulley was designed.Through the double-stage drive wire rope and electromagnetic dynamic pulley cross vertical way,the independent drive control of a drive motor to 5 fingers 6 degrees of freedom was realized.Through the serial winding connection between double finger joints and cross pulley,each finger joint had the relative independence of drive,and the passive adaptability of finger to object shape was improved.An elastic light device was developed and it was placed inside the finger joints and palm to provide corresponding restoration.Through study on its bending and load characteristics,the mathematical model of the angle and load was established,the finger pressure and joint corner detection were realized.The performance testing of the prototype was implemented.It is shown that it can realize grabbing to common items.
作者
郭润坤
GUO Runkun(Department of Mechanical Engineering,Shanxi Institute of Mechanical&Electrical Engineering,Changzhi Shanxi 046011,China)
出处
《机床与液压》
北大核心
2023年第13期117-123,共7页
Machine Tool & Hydraulics
基金
2022年度山西省高等学校科技创新计划项目(2022L687)。
关键词
电磁动滑轮
形状自适应
弹性光感装置
数学模型
Electromagnetic pulley
Shape adaptation
Elastic light sensing device
Mathematical model
