一类连杆机械手指屈伸动作的基本关系  

Basic Relationship of Flexion and Extension Movements for A Kind of Connecting Rod Mechanical Finger

作　　者：朱晔[1] 刚芹果[1] 

机构地区：[1]河北大学建筑工程学院,河北保定071000

出　　处：《机械研究与应用》2014年第4期35-36,共2页Mechanical Research & Application

基　　金：国家自然科学基金(编号:61203160)

摘　　要：对一种刚性连杆机械手指的运动学条件进行了分析。该机构由一个曲柄连杆机构和两个四连杆机构构成推导出了该手指实现屈伸动作时各执行机构几何参数之间应满足的数学关系式,为今后设计此类机械手指提供理论依据。The kinematics condition of a kind of rigid connecting rod mechanical finger which consisted of a crank rod system and two of four-bar linkage mechanism was studied. The mathematical relationship of the geometric parameters that the me-chanical finger should fulfill to complete flexion and extension movements was deduced. The results were the theoretical foun-dation and guided for the later design of this kind of mechanical finger.

关 键 词：机械手指 屈伸 几何参数关系 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]