基于数据手套的气动灵巧手控制系统设计  

Design of Pneumatic Dexterous Hand Control System Based on Data Glove

作　　者：郭冰菁[1] 李鹏杰[1] 韩建海[1] 李向攀[1] 朱玉乐[1] 

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003

出　　处：《液压与气动》2016年第10期42-46,共5页Chinese Hydraulics & Pneumatics

基　　金：河南省教育厅科学技术研究重点项目(14A460025);洛阳市科技计划项目(1401006A)

摘　　要：设计的气动人工肌肉驱动的灵巧手控制系统,由数据手套完成远端到临近点的主从控制,由分布式二级控制系统完成临近点到接触点的自主控制。两种控制方式相融合,既提高了抓取效率,又保证了抓取的柔性,对灵巧手的智能控制方法的研究有一定的参考价值。A dexterous hand control system which is driven by the pneumatic artificial muscle is designed. The master-slave control from the distal to the near point is performed by a data glove, and the autonomous control from the neighboring points to the point of contact is performed by the distributed secondary control system. This system can not only improve the capture efficiency but also ensure the flexible of grab with the two control modes together, which can provide a certain reference value to the intelligent control of dexterous hand.

关 键 词：气动人工肌肉 数据手套 灵巧手 主从控制 自主控制 

分 类 号：TH137[机械工程—机械制造及自动化]