机器人手可变抓取力机构研究

Research of Mechanism in Robot Hand With Controllable Grasping Force

根据物体轻重程度和表面软硬程度 ,拟人机器人手在抓取时应采用不同的抓取力 ,研制变抓取力手具有重要意义。分析了传统的变抓取力手指机构实现原理 ,得出变抓取力手指实现的关键。为克服传统机构的不足 ,提出了一种新型变抓取力手指机构设计思想 ,具体设计并实现了该变抓取力手指机构 ,该变抓取力手指机构能够应用于各种驱动类型的手指上。此变抓取力手指机构被应用到拟人机器人手———TH 1手食指的 2个关节中。抓取实验证明 ,TH 1手能够稳定抓取不同尺寸的常见物体。

According to different weights and surface conditions of an object grasped,a humanoid robot hand should produce different grasping forces for steadily grasping the object,so a hand with control of grasping force is significant.This paper analyzed the principle of traditional finger mechanisms with control of grasping force,and proposed the key of realization of a finger with control of grasping force.For avoiding the shortages of traditional mechanisms,this paper proposed a novel idea in design finger mechanism with grasping force,concretely designed and realized the finger mechanism with grasping force,which can be applied in the fingers of all kinds of transmission mechanisms.The finger mechanism was applied in the 2 joints of the Index of humanoid robot hand——TH-1 Hand.Grasping experiment proved that TH-1 Hand Could steadily grasp many common objects of different sizes.