一种具有良好灵巧性和触觉估计的三指机械手

A three-fingered robotic hand with good dexterity and tactile estimation

针对传统三指机械手存在灵巧性较低、抓取姿态偏少且绝大多数难以获得较完整触觉估计的弊端,设计了一种基于滑块-摇杆机构的三指机械手。滑块-摇杆机构用于实现中节指骨和远节指骨的耦合运动,具有指尖力随手指弯曲程度增加而增大的特点,有利于三指机械手的稳定抓取;提出与传统偏航-俯仰型不同的翻滚-俯仰型掌指关节结构,用于手指的屈伸与转动,可丰富三指机械手的抓取姿态,提高其灵巧性;三指机械手整体结构设计便于触觉传感器及角度传感器的安装及走线,通过建立运动学模型,可获得所有触觉力的详细空间分布(位姿)信息,实现三指机械手的良好触觉估计。抓取姿态及抓取力实验证明,三指机械手具备良好的抓取性能及较高的实用价值;触觉估计实验证明,三指机械手可为未来机械手的精确控制提供充分的触觉信息。

Aiming at the disadvantages of traditional three-fingered robotic hands,such as low dexterity,few grasping modes and difficulty in obtaining complete tactile space estimation,a three-fingered robotic hand based on slider-rocker mechanism was designed.The slider-rocker mechanism was used to realize the coupling movement of the middle phalanx and the distal phalanx,and had the characteristics that the fingertip force increased with the increase of the finger bending degree,which was conducive to the stable grasping of the three-fingered robotic hand.A roll-pitch type metacarpophalangeal joint structure different from the traditional yaw-pitch type was proposed for finger bending-extension and rotation,which enriched the grasping mode and improved the dexterity of the three-fingered robotic hand.The overall structure was designed to facilitate the installation and wiring of tactile sensors and angle sensors.Through the establishment of kinematics model,the detailed position and pose information of all tactile forces can be obtained,which realized the good tactile estimation of the three-fingered robotic hand.The experiment of grasping mode and grasping force proves that the three-fingered robotic hand has good grasping performance and high practical value;the experiment of tactile estimation shows that the three-fingered robotic hand can provide sufficient tactile information for the accurate control of the hand in the future.