绳索式假肢手指包络抓取性能的优化研究  

Optimization research of envelope grabbing performance of rope type prosthetic finger

作　　者：周立军[1] 张翼[1] 邓华[1] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083

出　　处：《机械设计》2017年第1期9-14,共6页Journal of Machine Design

基　　金：国家重点基础研究发展973规划自助项目(2011CB013302)

摘　　要：不合理的驱动滑轮半径往往导致绳索式假肢手指在包络抓取过程中出现弹射、抓取失败等现象。为了使假肢手指在包络抓取不同尺寸物体时都能有很好的综合抓取性能,文中对影响假肢手指抓取稳定性的驱动滑轮的轮径进行了优化选择。通过仿真研究假肢手指抓取的动态过程,并结合最常用的抓取模式优化选择了各驱动滑轮的轮径值。优化的关键在于考虑了指节与被抓物体表面存在的摩擦力对最终稳定性的影响。仿真验证了绳索式假肢手指在不同包络抓取模式下的综合抓取性能。Unreasonable driving pulley may lead catapult and grabbing failure in the envelope grabbing process of the prosthetic finger. In order to achieve the comprehensive grabbing performance when grabbing things in different sizes, the optimiza- tion of grabbing stability was performed on the driving pulley diameter in this paper. The wheel diameter of each driving pulley was optimized through the simulation of the dynamic grabbing process of the prosthesis finger combined with the most commonly used grabbing mode. The key of the optimization was that the effect of the friction between knuckle and body surface on the stability were taken into account. The simulation verified the comprehensive grabbing performance of rope type prosthetic finger in the different grabbing modes.

关 键 词：绳索式 假肢手指 摩擦力 优化 驱动滑轮轮径 

分 类 号：TH122[机械工程—机械设计及理论]