无线同步仿生机械手系统的设计  

Design of wireless synchronous bionic manipulator system

作　　者：姚振静[1] 潘杰 尚浩天 李立新[1] Yao Zhenjing;Pan Jie;Shang Haotian;Li Lixin(Key Laboratory of Vibration Precision Measurement Technology and Instruments,Institute of Disaster Prevention,Sanhe 065201,Hebei,China)

机构地区：[1]防灾科技学院振动精密测量技术与仪器重点实验室,三河065201

出　　处：《现代制造工程》2020年第9期40-45,共6页Modern Manufacturing Engineering

基　　金：河北省高等教育教学改革研究与实践项目(2018GJJG465);中央高校基本科研业务费专项资金项目(ZY20160104);国家重点研发计划项目(2018YFC1503801)。

摘　　要：针对大多数机械手只具有微机控制或程序控制,无法实现与人手动作同步的不足,设计了15自由度无线同步仿生机械手系统。采用体感机械手套实时采集人手动作并无线发送给仿生机械手。15自由度仿生机械手采用微分算法调节舵机转动角度,实现同步模仿人手抓取等动作。经过测试分析,无线同步仿生机械手系统抓取不规则形状或柔软物体用时均小于2 s,每根手指抓取误差均小于0.9°。For most manipulator only has the microcomputer control or the program control,which cannot realize the synchronization function with the human hand movement,a wireless synchronous bionic manipulator system with 15 degrees of freedom was designed.The somatosensory mechanical glove was used to collect human action in real time and send to the bionic manipulator.The bionic manipulator adopted differential algorithm to adjust the rotation angle of the steering gear,which realized hand grab and other actions synchronously with human imitation.The experimental test and analysis showed that the wireless synchronous bionic manipulator system can grab irregular shape or soft object within 2 s,and each finger grab error is less than 0.9°.

关 键 词：无线同步 机械手 同步抓取 反馈调节 自由度 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]