智能机器人灵巧手的研究

DLR Dexterous Robot Hand Ⅰ and Ⅱ

介绍了过去几年DLR开发的一型和二型手 .DLR Ⅰ手是一种多传感器 4指手 ,它具有 12个关节 (每个手指具有 3个关节 ) ,这些关节集成在手指和手掌内 .作为世界上最复杂的机械手之一的DLR Ⅰ手共具有 112个传感器、大约 10 0 0个机械零件和 15 0 0个电子元件 .手的关键部件是人工肌肉 ,这是一种小巧但动力很强的线性驱动器 ,它是首先实现替代液压和气压驱动器的机电驱动器之一 .基于DLR Ⅰ手的实验结果研制的DLR Ⅱ手具有以下 4个明显的优点 :①可重构的手掌 ;②易于维护的开放式结构 ;③采用了新的通讯结构 ,使得手的引出线从DLR Ⅰ手的 4 0 0根减少到 12根 ;④为实现手的精确操作 ,每个手指的指尖安装了一个微型 6维力 /力矩传感器 .每个手指指尖的输出力从 10N增加到了 3 0N .DLR

The development of DLR hand Ⅰ and Ⅱ in the last years is presented. DLR hand Ⅰ is a multisensory 4finger articulated hand, characterized by the fact that all 12 active joints (3 for each finger) are integrated into the fingers and the palm. With 112 sensors, around 1 000 mechanical and around 1 500 electrical components the DLR hand Ⅰ is one of the most complex robot hands ever built. Its key element is the artificial muscle, a small but powerful linear actuator, which seems to be one of the first real mechanical and electrical alternatives to hydraulic or pneumatic actuators. Based on the experimental results on the DLR hand Ⅰ, the DLR hand Ⅱ has been developed with four distinct advantages:①reconfigurable grasping palm by an extra motion between the thumb and the little finger; ②an open skeleton structure for easy maintenance; ③a new communication architecture which enables a reduction of the cabling to the hand from 400 in the hand Ⅰ to only 12; and ④a tine 6 degree of freedom force torque sensor is mounted on each fingertip for fine manipulation. Also the output force at fingertip is increased from 10 N to 30 N. The new hand will play a key role in the service robots.