欠驱动五指灵巧手及控制系统设计  

Design of Control System and Under-actuated Manipulator

作　　者：张习烨[1] 唐新星[1] 张楠[1] 倪涛[2] 

机构地区：[1]长春工业大学机电工程学院,吉林长春130022 [2]吉林大学机械科学与工程学院,吉林长春130025

出　　处：《机床与液压》2014年第15期5-9,共5页Machine Tool & Hydraulics

基　　金：教育部博士点基金资助项目(20110061120033);吉林省自然科学基金资助项目(201115153);国家级大学生创新创业训练计划项目(201210190001)

摘　　要：模拟人手的生理结构,创建一种新型欠驱动五指灵巧手系统。介绍了欠驱动灵巧手的结构,提出一种基于欠驱动关节机构顺序驱动的方法;从运动学的角度出发,使用Matlab Robotics Toolbox绘制了手指指尖运动的工作空间域,并与采用关节同时驱动的指尖运动的工作空间域进行了对比,结果表明关节结构顺序驱动方法具有更大的工作域空间;最后,介绍了控制系统方案与电路,初步实现了欠驱动五指灵巧手的弯曲/伸展与内收/外展运动,其控制效果良好。By simulating the physical structure of the human hand,a new type of under-actuated dexterous hand system was cre-ated.The structure of the under-actuated dexterous hand was introduced,and a new driven method based on the sequential under-actu-ated joint mechanism was proposed.The movement spatial domain of the fingertips was drawn by using Matlab Robotics Toolbox from the kinematic of view.The results show that the joint of the sequential driving method has larger movement spatial domain.Finally,the scheme and the circuit of the control system are introduced,and the experiment realizes the primary movement of flexion/extension and adduction/abduction of under-actuated dexterous hand,and has good control effect.

关 键 词：欠驱动灵巧手 工作空间域 Matlab ROBOTICS TOOLBOX 直流电机 PWM调速 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]