力反馈主从仿人机械手的结构设计  

Design of master-slave humanoid hands with force-feedback

作　　者：许俊军 龚文 杨决宽[1] Xu Junjun;Gong Wen;Yang Juekuan(School of Mechanical Engineering, Southeast University, Jiangsu Nanjing, 211189, China)

机构地区：[1]东南大学机械工程学院

出　　处：《机械设计与制造工程》2019年第5期31-34,共4页Machine Design and Manufacturing Engineering

摘　　要：为了实现遥控操作机器人系统中的力反馈,设计了主从式仿人机械手结构。主从手均采用绳传动欠驱动方式,每根手指由1个电机带动,力反馈装置均设置在两个机械手结构的指尖处。实验结果表明,该主从手结构能实现仿人灵活操作和力反馈,并能将反馈力的误差控制在1.5N以内。In order to implement force feedback in remotely operation robot systems, the paper introduces a design of master-slave humanoid hands with force-feedback. The underactuated master and slave hands are driven via ropes with each finger driven by a motor. The force feedback sensors are installed at the fingertips of the master and slave hands. Experimental results show that the master-slave structure can achieve force-feedback with an accuracy of 1.5N.

关 键 词：仿人主从手 力反馈 欠驱动 

分 类 号：TH122[机械工程—机械设计及理论]