基于电流反馈的仿人手设计  

Design and Research of Artificial Hand Based on Current Feedback

作　　者：司成俊[1] SI Chenjun(Changzhi Vocational and Technical College,Changzhi Shanxi 46000,China)

机构地区：[1]长治职业技术学院,山西长治46000

出　　处：《机械设计与研究》2020年第3期208-213,共6页Machine Design And Research

摘　　要：为实现仿人手结构集成化,采用内置于手掌的绳驱式蜗轮驱动系统,制作了总重量为350 g且与人手比例1∶1的仿人手样机。通过磁力蜗轮驱动系统降低了微型直流电机的初始启动电流,并采用电流作为闭环反馈的控制算法,建立了电流幅值与负载力、运行时间与被抓物体直径的关系。实验结果表明:仿人手最大抓取重量可达1.6 kg,最大抓取尺寸为135 mm,通过电流反馈方式可以实现稳定负载力抓取,并且根据智能控制算法可以有效实现对不同物体的尺寸预估,从而实现稳定抓取。In order to realize the integration of artificial human hand,a 1∶1 artificial hand with a total weight of 350 g was madein the way of rope drive worm gear and worm gear built into the palm.The magnetic worm wheel drive system is used to reduce the initial starting current of the micro motor,and the relationship between current amplitude,load force,running time and the diameter of the object is established bya closed-loop feedback control algorithm.The experimental results show that:the maximum grasping weight of human hands can reach 1.6 kg,the maximum grasping size is 135 mm,stable load force grasping can be achieved through current feedback,and the size of different objects can be effectively estimated according to the intelligent control algorithm,so as to achieve stable grasping.

关 键 词：集成化 磁力蜗轮 电流反馈 负载反馈 尺寸预估 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]