末端强力抓取的欠驱动拟人机器人手  

Under-actuated humanoid robot hand with end power grasping

作　　者：张文增[1] 马献德[1] 黄源文[1] 邱敏[1] 陈强[1] 

机构地区：[1]清华大学机械工程系,先进成形制造教育部重点实验室,北京100084

出　　处：《清华大学学报（自然科学版）》2009年第2期194-197,共4页Journal of Tsinghua University(Science and Technology)

基　　金：清华大学基础研究基金资助项目(JC2007009);国家“八六三”高技术项目(2007AA04Z258)

摘　　要：为了实现自适应抓取效果、拟人化外观和具有末端强力抓取功能的机器人手,采用带轮传动、弹簧约束和活动套接的中部指段,设计了一种新型欠驱动手指机构。分析了该手指的强力抓取原理。由此设计了拟人机器人手——TH-3B手。TH-3B手外观、尺寸和动作模仿人手,有5个独立驱动手指、15个关节自由度、6个驱动电机,模块化程度高,结构紧凑,控制容易,质量小,成本低,对所抓物体的形状、大小自动适应,可以实现末端强力抓取,适用于拟人机器人上。An under-actuated finger mechanism was designed for adaptive grasping, human-like appearance and end power grasping based on a combination of belt-pulley transmission, spring constraints and an active sleeve middle phalanx. The end power grasping force is analyzed for a humanoid robot hand （TH-3B hand）. The hand is similar to the human hand in appearance, size, and motion with independently driven 5 fingers, 15 DOFs, and 6 motors. The hand is highly modular, compact, easy to control, light-weight, and inexpensive. The hand is capable of end power grasping and self-adaptation to the shape and size of the object grasped, which makes it suitable for humanoid robots.

关 键 词：机器人技术 拟人机器人手 欠驱动 自适应 末端强力抓取 

分 类 号：TH11[机械工程—机械设计及理论] TP24[自动化与计算机技术—检测技术与自动化装置]