水下灵巧手的结构优化及控制系统设计  

Structural optimization and controlling system design of under water dexterous hand

作　　者：贺泽[1] 

机构地区：[1]青岛科技大学机电学院,山东青岛266061

出　　处：《机械设计》2008年第8期27-29,56,共4页Journal of Machine Design

基　　金：青岛科技大学博士科研启动基金资助项目(0022273)

摘　　要：设计了3指水下灵巧手及其防腐密封结构,对结构参数进行了优化设计。基于CAN总线构建了灵巧手控制系统。根据优化设计结果研制了3指水下灵巧手原理样机,测试结果表明,该灵巧手可灵活抓取多种复杂表面的物体,部分代替人工水下作业。The tri-fingered under water dexterous hand and its antiseptic airproof structure were designed, and an optimization design was carried out on the structural parameters. The controlling system of dexterous hand was established based on CAN concentration line. The principle prototype of under water tri-fingered dexterous hand was developed according to the result of optimization design. The tested result showed that this dexterous hand could grab nimbly objects with various kinds of complicated surfaces and could substitute partially the manual under water operation.

关 键 词：水下 灵巧手 结构优化 

分 类 号：TH137.7[机械工程—机械制造及自动化]