一种具备多种抓取模式的三指机械手  

A three-fingered robot hand with multiple grasping modes

作　　者：张磊[1,3] 孙斌 李红兵 徐冰辉 戴丽娟 张兴国[1] 邢强 Zhang Lei;Sun Bin;Li Hongbing;Xu Binghui;Dai Lijuan;Zhang Xingguo;Xing Qiang(School of Mechanical Engineering,Nantong University,Nantong 226019,Jiangsu,China;Department of Instrument Science and Engineering,Shanghai Jiaotong University,Shanghai 200240,China;Department of Mechanical Engineering,School of Lassonde,York University,Toronto M3J 1P3,Canada;Department of Psychology,University of Texas at Arlington,Arlington 76019,USA)

机构地区：[1]南通大学机械工程学院,南通226019 [2]上海交通大学仪器科学与工程系,上海200240 [3]约克大学拉松德学院机械工程系,多伦多M3J 1P3 [4]美国德州大学阿灵顿分校心理系,阿灵顿76019

出　　处：《现代制造工程》2019年第12期49-54,共6页Modern Manufacturing Engineering

基　　金：江苏省六大人才高峰项目(2015-ZBZZ-023);上海市自然科学基金项目(18ZR1421300);南通市应用研究计划项目(GY12017017);2017年度江苏省政府留学奖学金项目;2018年度江苏省政府留学奖学金项目

摘　　要：针对国内外高端灵巧手存在价格高、结构复杂的问题,从简化结构但又能满足较复杂抓取模式的角度考虑,设计了一种具备多种抓取模式的三指机械手。该机械手由3根同样的手指组成,每根手指有3个关节;使用钢丝绳耦合传动实现欠驱动,减少了驱动电动机数;为保证手指控制的灵活度,末端指尖单独由电动机驱动。采用D-H参数法建立手指运动学模型,完成正运动学求解。通过ADAMS软件对机械手进行运动学仿真,分析了三指机械手的运动特性及抓取力。根据包络抓取、精细抓取和普通夹取等几种抓取模式的需要布置了触觉传感器,对常见的目标物进行了抓取试验,验证了该机械手的实用性。三指机械手成本低、制造加工方便,对于难以获得昂贵灵巧手的研究机构和工厂具有实际应用价值。In view of high cost and complicated structure of high-level dexterous hands,a robot hand with multiple grasping modes was designed.The robot hand consists of three identical fingers,each of which has three joints.For each finger,two joints are underactuated by the steel wire coupling transmission,which reduces the number of drive motors;the end knuckles are driven by an independent motor to improve the flexibility of finger control.The finger kinematics model was established by D-H method,and the forward kinematics solution was completed.The kinematics simulation was realized by ADAMS software.The movement characteristics and grasping force of the robot hand were analyzed.Tactile sensors were configured according to the needs of several grasping modes such as engraving grasp,fine grasp and ordinary gripping.Grasping experiments on common targets were carried out to verify their practicability.The robot hand designed has low cost and is easy to manufacture.It has practical application value for research institutions and factories which are difficult to obtain expensive dexterous hands.

关 键 词：机械手 耦合传动 仿真 抓取 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]