欠驱动机器人手指实验平台的设计  

Design of an Experimental Platform for Under actuated Robot Finger

作　　者：张鑫[1] 陈文锐[1] 张可科[1] 

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《装备制造技术》2013年第2期21-23,共3页Equipment Manufacturing Technology

摘　　要：基于三关节绳索驱动的欠驱动机器人手指,设计了手指实验平台。该实验平台由平台机构、平台控制系统和VICON红外光点三维运动分析系统组成。平台机构采用海顿直线步进电机驱动导轨滑块,从而牵引绳索控制手指弯曲和伸展;平台控制系统采用DSPF2812作为主控制器,通过驱动器控制直线步进电机的转动;VICON红外光点三维运动分析系统采用6台VICON红外摄影机对标记点进行运动捕捉,其数据通过VICON资料处理器导出至PC端进行处理。实验平台可以对三关节欠驱动机器人手指进行抓取性能和运动轨迹的分析。In this paper an experimental platform for underactuated robot finger driven by steel ~re rope will be introduced. This platform is composed of mechanical structure, control system and motion capture system. Stepper motor is used to drive the slider on linear guide, which control the movement of the finger. The control system is centered in DSPF2812, which control the movement of stepper motor through the motor driver. The motion capture system is produced by Vicon, a British company. In this platform, six Vicon Cameras are used to capture the movement of robot finger, and by doing this, the platform can analysis the grab performance and the motion trail of the under actuated robot finger.

关 键 词：欠驱动 机器人手指 实验平台 运动捕捉 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]