腱驱动假手手指运动及力分析  

Kinematics and dynamics of a tendon-driven prosthetic finger

作　　者：刘伊威[1] 任伟[1] 高一夫[1] 

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,哈尔滨150080

出　　处：《哈尔滨工业大学学报》2012年第5期46-51,共6页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2008AA04Z203);中国博士后基金(201003442);黑龙江省博士后基金(LBH-Z09104)

摘　　要：为优化多自由度假手的机械结构,降低其复杂性以及提高其可靠性,采用腱驱动方法实现假手单手指的独立运动.腱驱动假手手指由驱动腱、钢丝轮、3个指节、3个关节及关节扭簧等构成,关节扭簧实现关节的预紧和腱松弛后关节的回复运动.对弹簧刚度进行优化设计,实现腱驱动的手指各关节的顺序弯曲及手指的大抓握.分析了手指抓取时各指节所受接触力与钢丝轮驱动力矩之间的关系.建立了手指的动力学模型,得到手指的动力学方程.数值计算与仿真分析比较证明了理论计算的正确性,手指运动及抓握实验证明了该种结构手指的可行性.腱驱动的假手手指具有零件少、结构简单、可靠性高等优点,为多自由度假手的研制提供了有利条件.A tendon-driven finger structure is applied to optimize the mechanism,reduce the complexity and improve the reliability of prosthetic hand,which also realizes the independent movement for single finger.The structure consists of a drive tendon,three knuckles,three joints,torsion springs,and so on.The joint torsion spring is designed to realize the joint preload and the joint reversion after the tendon looseness.By optimizing the spring stiffness,it is able to realize the sequential curling and the large range grip.Based on these analyses,the relation between contact force on the knuckles and the drive torque of the wire wheel,the finger dynamic model and dynamic equations are established.The numerical calculation,simulation and experiments are done to validate the correctness of the theoretical analysis and the feasibility of the finger structure.By the advantages of fewer parts,simpler structure and higher reliability,the tendon-driven finger structure provides favorable conditions for development of multi-degree prosthetic hand.

关 键 词：假手 手指结构 腱驱动 欠驱动 手指动力学模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]