气动人工肌肉驱动灵巧手的设计与研究  

Dexterous Hand Actuated by Pneumatic Artificial Muscle

作　　者：张氢[1] 覃昶 孙远韬[1] ZHANG Qing;QIN Chang;SUN Yuan-tao(School of Mechanical Engineering,Tongji University,Shanghai 201804)

机构地区：[1]同济大学机械与能源工程学院,上海201804

出　　处：《液压与气动》2018年第5期93-97,共5页Chinese Hydraulics & Pneumatics

摘　　要：针对气动人工肌肉推广应用的问题,提出了一种轻小型气动人工肌肉的制作方案,并对其不同压力下的力学性能进行了试验和测试。试验结果表明,该气动人工肌肉具有高收缩率和大输出力的特性。基于该气动人工肌肉的运动特性,设计了一款欠驱动的多自由度灵巧手,并进行了多项抓取实验,验证了其多种状况下的工作能力。基于气动人工肌肉的灵巧手具有适应性强和抓取力大的特点,对气动人工肌肉的应用和机器人末端执行器的开发具有参考价值。Aimed at popularization and application of pneumatic artificial muscle(PAM),a scheme for making light and small PAM is proposed,and its mechanical properties under different pressures are tested.The experimental results show that the PAM has the characteristics of high shrinkage rate and large output force.Based on motion characteristics of the PAM,an underactuated MDOF dexterous hand is designed,and a number of gripping experiments are carried out to verify its working ability under various conditions.The dexterous hand based on PAM has the advantages of strong adaptability and large gripping force,which is valuable for application of PAM and development of robot end effector.

关 键 词：气动人工肌肉 气动装置 灵巧手 机器人 

分 类 号：TH138[机械工程—机械制造及自动化]