一种双连杆混合传动的机器人手指设计  

Design of A Two link Hybrid Transmission Robot Finger

作　　者：高瑞祺 GAO Ruiqi(Yuxin Primary School of Capital Normal University,Beijing 100096)

机构地区：[1]首都师范大学附属育新学校,北京100096

出　　处：《现代制造技术与装备》2018年第12期58-59,61,共3页Modern Manufacturing Technology and Equipment

摘　　要：随着科技的进步,越来越多的行业开始使用机器人进行工作,与人类日常操作中手臂的作用类似,操作机器人机械手在操作中也占有重要地位,因此对机器人手指设计进行研究具有重要意义。以双连杆混合传动方式设计了一种可进行目标抓握的欠驱动手指,并对手指设计、运动参数进行分析,最后对抓取能力进行了仿真,验证该设计满足生产需求,可投入使用。With the advancement of technology, more and more industries are beginning to use robots to work. Similar to the role of the arm in human daily operations, the operation robot manipulator also plays an important role in the operation. Therefore, it is of great significance to study the robot finger design. An under-actuated finger for target grasping was designed by double-link hybrid transmission. The finger design and motion parameters were analyzed. Finally, the grasping ability was simulated to verify that the design meets the production requirements and can be put into use.

关 键 词：机器人 手指 连杆 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]