一种五指型机器手的机构设计及实现  

Design and realization of the five-finger arm-and-hand mechanical system

作　　者：张利霞[1] 杨志成[1] 

机构地区：[1]北京联合大学,北京100101

出　　处：《制造业自动化》2008年第7期35-38,共4页Manufacturing Automation

摘　　要：文章介绍了一种五指型机器手的机构设计与实现方法,根据对非规则物品拿取任务的要求,采用转动机构和连杆机构相结合,设计了五指型机器手。手指弯曲电机与指间平衡电机耦合驱动,实现了机器手的多角度张开、抓握运动方式。详细分析了机器手手指机构、手掌机构、手指间辅助平衡机构的工作原理,给出了设计方案,并根据总体设计要求选定了关键参数。This thesis introduces the design and realization of a five-finger arm-and-hand mechanical system. Based on the demand of fulfilling the task of holding irregular articles, the design of this arm-and-hand system combines the rotational structure and connecting rod. The fingerbinding engine and the finger-balancing engine drive in a couple, thus realizing the multiangle opening and grabbing motion. This thesis gives a detailed analysis on the mechanism of the finger system, the palm system and the aiding finger-balancing system. A design project is also provided, with key parameters according to the general demand.

关 键 词：五指型机器手 工作原理 机构设计 实现 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]