HIT／DLR HandⅡ类人形五指灵巧手机构的研究  

Research on the mechanics of the HIT/DLR Hand Ⅱ anthropomorphic five-finger dexterous hand

作　　者：樊绍巍[1] 刘伊威[1] 金明河[1] 兰天[1] 陈兆芃[1] 刘宏 赵大威 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001 [2]德国宇航中心机器人与系统动力学研究所,慕尼黑82230 [3]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2009年第2期171-177,共7页Journal of Harbin Engineering University

基　　金：国家863计划基金资助项目(2006AA04Z255);教育部“111”创新引智计划资助项目(B07018)

摘　　要：为了使灵巧手的外观和结构功能更加类人化,研制了新一代类人形机器人五指灵巧手——HIT/DLR HandⅡ.该灵巧手由一个独立的手掌和5个完全相同的具有4个关节3个自由度的模块化手指构成.机电集成的设计思想保证了所有驱动器,传动系统和电路系统都集成在手指和手掌的内部.钢丝耦合机构的采用,保证了手指末端关节在整个运动范围内都能够保证精确定1:1传动比.包装件同结构功能件融合的设计思想不但进一步缩减的灵巧手的外形尺寸,而且使灵巧手外形更加类人化.所有的创新型设计使灵巧手的手指外形尺寸仅是上一代手指的1/3.此外,为了提高灵巧手的多感知能力,重新设计的力/力拒传感器,位置传感器及温度传感器通巧妙的集成在手指的内部.试验表明,所设计的灵巧手不但达到了设计目标,也表现出了很强的抓握能力.A new anthropomorphic robot with a five-finger dexterous hand-named HIT/DLR HandⅡ-was devel- oped to make hand appearance and structural functions more anthropomorphic. The hand is composed of an inde- pendent palm and five identical modular fingers, and each finger has three degrees of freedom （DOF） and four joints. To meet the mechatronic idea, all actuators, drivers, and electronics were integrated in the fingers and the palm. By using a steel coupling mechanism, the distal phalanx transmission ratio was kept exactly 1 ： 1 over the whole movement range. The packing mechanism which was implemented in the fingers and palm not only reduees the size of whole hand but also makes it more anthropomorphic. The finger size is about one third of the former fin- ger in this innovative design. In additional, the newly designed force/torque and position sensors are well integrated with the hand. It was verified by experiments that the dexterous hand not only met design goals, but also exhibits great grasping capacity.

关 键 词：灵巧手 类人形 模块化 钢丝耦合机构 多感知能力 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]