模块化可重构三指灵巧手设计与抓取实验研究

Design and Grasping Experiment of Modular Reconfigurable Three-finger Dexterous Hand

在服务和工业领域等非结构化环境中,因抓取对象、抓取部位、作业工艺等具备多样化、不确定等特点,灵巧地抓取物体是具有挑战性的.基于连杆传动机构,研制了一种新型的模块化可重构三指灵巧手.手指与手掌分别采用模块化设计,模块化手指的两个关节均采用连杆传动,有效减小了手指体积,同时可以获得较大的指尖力,降低了制造维护的复杂性.可重构手掌可以变换模块化手指的空间位置,对不同抓取目标形成最优的抓取姿势.其具有以下特点:7个主动自由度,指尖力为25N,有效载荷为5kg,重量为1.55kg,体积小巧,具有力感知能力且易于集成.日常生活用品与工具的抓取实验验证了灵巧手的有效性和灵巧性.结果表明,模块化可重构三指灵巧手可以灵巧地抓取和操作日常生活用品和工具,可有效满足服务与工业领域中灵巧抓取的需求.

In unstructured environments such as service and industrial,dexterity in grasping objects is challenging due to the diversity and uncertainty of grasping objects,grasping parts,and working processes.A new modular reconfigurable three-finger dexterous hand was developed based on the linkage driven mechanism.The finger and the palm both adopted modular design,and the two joints of the modular finger were driven by the linkage mechanism,which effectively reduced the size of the finger,and obtained a larger fingertip force,reducing the complexity of manufacturing and maintenance.The reconfigurable palm can change the spatial position of the modular fingers to form the optimal grasping posture for different grasping objects.It has been characterized by 7 active degrees of freedom(6 joints),a fingertip force of 25N,a payload of 5kg,a weight of 1.55kg,compact size,force sensing capability and easy integration.The grasping experiment of daily necessities and tools verified the effectiveness and dexterity of the dexterous hand.The results show that the modular reconfigurable three-finger dexterous hand can dexterously grasp and operate daily necessities and tools,which can effectively meet the needs of dexterous grasping in the service and industrial fields.