一种双向平夹感知自适应机器人手指设计  

Design of a Novel Robotic Finger with Sensing Parallel and Self-adaptive Grasp in Two Directions

作　　者：夏海超 白国振[1] 王潇榕 周媛[1] Xia Haichao;Bai Guozhen;Wang Xiaorong;Zhou Yuan(School of Mechanical Engineering,University of Shanghai for Science&Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海市200093

出　　处：《农业装备与车辆工程》2019年第1期14-18,共5页Agricultural Equipment & Vehicle Engineering

基　　金：上海市自然科学基金(13ZR1458500)

摘　　要：为更好地应对工作环境的复杂性,设计了一种双向平夹感知自适应机器人手指装置,称为PPC手指。提出双向平夹感知自适应功能,对手指机构原理和组成、抓取动作过程和抓取力进行分析,进行了样机的虚拟设计和抓取模式分析。该PPC手指综合了传统灵巧手和欠驱动手的优点,独创性地实现了双方向平行夹持和感知自适应的抓取效果。A novel dexterous robotic finger with sensing parallel and self-adaptive grasp in two directions,called PPC finger,is designed to better cope with the complex working environments.Sensing parallel and self-adaptive function in two directions is proposed.The principle and compositions of finger mechanism,action processes of grasping and grasping forces are analyzed.The virtual prototype of finger is designed,and its grasping modes are analyzed.The PPC finger combines the advantages of common dexterous finger and underactuated finger,which can creatively achieve sensing parallel and self-adaptive grasp in both directions.

关 键 词：灵巧机器人手指 双方向 感知 自适应 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]