残疾人假手的仿人和欠驱动机构研究  

Study on the apery and drive lacking mechanism for artificial hand of disabled person

作　　者：俞昌东[1] 姜力[1] 黄海 史士才[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《机械设计》2007年第9期44-46,共3页Journal of Machine Design

基　　金：国家自然科学基金重点资助项目(50435040)

摘　　要：根据欠驱动和耦合原理研制出了仿人型残疾人假手,该手结构简单,质量轻,高度集成化,与成年人手的大小相仿,用M atlab软件优化设计了手指各杆件参数,同时进行了运动学分析。该假手对不同物体抓取具有自适应性,能进行力量抓取和精确抓取。The apery typed artificial hand of disabled person was developed on the basis of principles of drive lacking and coupling. The structures of this hand are simple, light weighted, highly integrated and similar to the hand size of an adult. Parameters of each bar member of fingers were designed optimally by the use of Matlab software, and the dynamics analysis was carried out at the same time. This artificial hand has self-adaptability on the grabbing of different objects, and could conduct both force grabbing and precision grabbing.

关 键 词：仿人型假手 欠驱动 耦合 自适应性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]