气动扇形柔性关节多指灵巧仿人机械手

Multi-fingered Dexterous Humanoid Mechanical Hand Driven by Pneumatic Fan-shaped Flexible Joints

为了满足服务型机器人对人机交互动作柔软性、安全性的高要求,基于仿生学理论提出了一种气压驱动扇形柔性关节,并将其用于多指灵巧仿人机械手的构建。采用柔性关节驱动和刚性手部骨骼相结合的设计理念,兼顾手部刚度与柔性。通过关节角度的检测和供气压力的调节,实现手指关节弯曲角度和手指抓握力的连续控制。描述了扇形柔性关节的工作原理和结构设计特点,以及手部整体结构的设计,并对机械手抓握动作和功能进行了试验分析。试验结果表明:柔性多指灵巧仿人机械手能够完成各种手势以及对球状、圆柱状和卡片状等物体的抓取。

Based on the bionics theory,a kind of pneumatic driven fan-shaped flexible joint was presented to meet the high demand of service robot for flexibility and safety of man-machine interaction,which was used in the construction of multifingered humanoid dexterous hand.The design concept of combining flexible joint drive and rigid hand skeleton was adopted to balance the stiffness and flexibility of the hand.By detecting joint angles and adjusting proportionally the pressure of the compressed air supply,the ability of continuously controlling the finger joint bending angles and finger gripping forces was realized.The working principle and structural design characteristics of fan-shaped flexible joints,and the design of the overall structure of the hand were described in detail.The grasp action and function of the mechanical hand were analyzed by experiment.The results show that multi-finger dexterous humanoid robot hand can complete all kinds of gestures and grasp objects such as ball,cylinder and card.