多指多关节机器人柔性手的机构组成研究  

Mechanism Constitution Research of Multifingered Articulated Robot Flexible Hands

作　　者：周洪[1] 郑文纬[2] 

机构地区：[1]浙江工学院 [2]东南大学

出　　处：《浙江工学院学报》1990年第1期44-49,共6页

摘　　要：多指多关节机器人柔性手因能改善现有夹持器的不足而受关注。本文首先分析了手指与物体间的接触效应,并选取有摩擦点接触作为研究前提。在柔性手既能完全约束物体又能给予被抓物体任意小运动的条件下,分析综合出15种可行的柔性手机构组成方案。Owing to being able to improve robot grippers, multifingered articulated robot flexible hands are introduced. This paper analysizes the contact effect between finger and object, and takes point-contact with friction as research presupposition. Under the condition that flexible hands can not only restrain objects completely but also provide arbitrarily small motions to the grasped objects, 15 mechanism schemes of practicable flexible hands are discussed and synthesized in this paper.

关 键 词：机器人 柔性手 结构分析 手指 关节 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]