TUST灵巧手手指设计  

Finger of TUST dexterous hand

作　　者：孙志超[1] 毕德学[1] 

机构地区：[1]天津科技大学机械工程学院,天津300222

出　　处：《微计算机信息》2012年第10期126-127,170,共3页Control & Automation

摘　　要：基于绳索传动的TUST灵巧手,成功实现了一个电机对整手21个自由度的高度欠驱动控制,以及对物体的柔性抓取。本文主要介绍了TUST灵巧手的手指部分的设计。提出了一种新型的绳索传动方式,该方式较已往的绳索传动有绳索数量少,不易打滑等特点;通过对该方式的组合设计了TUST手指。同时进行了TUST手指数学模型的研究,给出了合适的控制策略。成功减少了控制时间,实现了柔性抓取功能。TUST手的原理、控制方式较以前的灵巧手都有所不同,为灵巧手的改进探索了新的方向。TUST dexterous hand is based on rope transmission. It controls 21 freedoms on whole hand by one motor successfully, which is highly underactuated. This article mainly introduced the fingers design of TUST dexterous hand. And introduces a new way of rope transmission which has less rope numbers and sliding hard. Through the combination of the way of rope transmission the TUST finger was designed. We also researched the mathematical model of TUST fingers ,and get an appropriate control strategy. With that we reduced control time and realize flexible grab function successfully .TUST hand is different from existing dexterous hand in principle,control method; and explored a new direction for dexterous hand design.

关 键 词：绳索传动 控制策略 柔性抓取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]