一种具有柔顺抓取功能的水下作业机械手  

An underwater manipulator with the capability of complaisant grasping

作　　者：谭定忠 王启明 杨军[1] 朱丽丹 贾春燕[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001

出　　处：《船舶工程》2008年第2期45-47,66,共4页Ship Engineering

摘　　要：建立了机械手的三维模型,对机械手的工作原理和静力学特性进行研究,分析了运动部件之间的相对关系;机械手采用液压驱动方式,驱动力大、结构简单;机械手有三个手指,采用4个驱动元件实现对机械手11个自由度的驱动,三个手指之间的相对位置可根据抓取目标物的形状而改变,抓取物体时具有形状自适应能力.The 3D models of the manipulator are built, and its principle and static characteristic are researched. The relationship among movement parts is analyzed. The manipulator is driven by the hydraulic pressure, which has strong driving power and simple structure. The manipulator has 3 fingers with 11 DOF driven by 4 driving components, and the position of the fingers is changed with the shape of the object and can fit the object automatically.

关 键 词：机器人技术 水下作业 机械手 柔顺抓取 静力学特性 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]