绳驱动假肢手指参数优化及抓取力分析  

Parameter optimization and grasping force analysis of a rope-driven prosthetic finger

作　　者：李群明[1,2] 李耀文[1,2] 吕亚平[1,2] 潘祺[1,2] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,长沙410083 [2]中南大学机电工程学院,长沙410083

出　　处：《现代制造工程》2015年第8期145-149,共5页Modern Manufacturing Engineering

基　　金：国家重点基础研究发展"973"规划资助项目(2011CB013300-G)

摘　　要：鉴于实现假肢手指类人手指运动规律在假肢手设计中的重要性,通过对假肢手指运动学进行分析,得到假肢手指关节转角与弹簧刚度的关系,并采用数据手套对人手食指自然弯曲过程中各关节转角进行采集,在此基础上,以假肢手指弯曲过程中关节转角与人手食指相近为设计目标,对假肢手指的参数进行优化,得到满足目标的弹簧刚度。最后根据虚功率原理建立假肢手指静力学模型,并将得到的数学模型与ADAMS虚拟样机的静力学仿真结果进行对比,验证了所建立的静力学模型的合理性。Given the importance to design a prosthetic finger that having the motion law of human finger. First establish the rela- tionship between spring stiffness and joint angles of the prosthetic finger through the analysis of the prosthetic finger＇ s kinemat- ics. Then colleet the joint angles of human index finger during natural bending by using the CyberGlove 11-22 data glove. Based on this, an anthropomorphic optimization method is proposed in order to let the prosthetic dinger have the motion law of human index finger. Final, the statics model of the finger is established based on the virtual power prineiple. The model was proved to be reasonable by comparing the results of the mathematic model with that of dynamic simulations in ADAMS.

关 键 词：绳驱动 假肢手指 运动规律 静力学 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]