基于柔性驱动模块的机器人灵巧手设计与试验  

Design and test of robot dexterous hand based on flexible driving module

作　　者：郭语[1] 王逸飞 吴钟鸣[1] 王建楠 Guo Yu;Wang Yifei;Wu Zhongming;Wang Jiannan(School of Mechanical and Electrical Engineering,Jinling Institute of Technology,Nanjing,211199,China;Nanjing Institute of Agricultural Mechanization,Ministry of Agriculture and Rural Affairs,Nanjing,210014,China)

机构地区：[1]金陵科技学院机电工程学院,南京市211169 [2]农业农村部南京农业机械化研究所,南京市210014

出　　处：《中国农机化学报》2020年第11期178-184,共7页Journal of Chinese Agricultural Mechanization

基　　金：江苏省自然科学基金项目(BK20170119);金陵科技学院科研孵化基金(jit—fhxm—201916)。

摘　　要：现有仿人机器人灵巧手往往缺少柔顺性和灵活性,针对这一问题,提出一种基于柔性驱动模块的机器人灵巧手结构。手指采用绳和连杆的混合传动形式,并设计与人手相仿的整手结构;设计的柔性驱动模块采用弹性卷筒式结构,卷绕绳的空载线速度接近35 mm/s,最大输出拉力可达15 N,具有空载速度快、有负载时柔性加载的特点,且具有绳张力检测功能,利用ANSYS Workbench对弹性元件进行结构静刚度分析与参数优化设计;参考人手指生理耦合关系,对手指连杆耦合机构进行优化设计。样机试验表明,所设计的机器人灵巧手可实现与人相仿的手势,并能完成对不同形状和大小的物品的稳定抓握和指尖抓取。手指最短收缩时间仅0.6 s,具有较快的运动速度。The robot dexterous hands are often lack of compliance and flexibility.To solve the problem,a robot dexterous hand structure was proposed based on the flexible driving module.The hybrid transmission formed of rope and linkage was adopted to design the finger,and the whole hand structure was also constructed similar to the human hand.The flexible driving module adopted elastic drum structure,which had the characteristics of fast no-load speed and flexible loading under load,and had the function of rope tension detection.The no-load linear speed of the driving rope was close to 35 mm/s,and the maximum output tension could reach 15 N.ANSYS Workbench was used to analyze the static stiffness and optimize the parameters of the elastic component.According to the physiological coupling relation of human finger,the optimal design of the finger linkage coupling mechanism was carried out.The prototype tests showed that the proposed robot dexterous hand could perform human-like gestures,and could steadily grasp and pinch the objects of different shapes and sizes.The minimum bending time of the finger was only 0.6 s,which had a fast speed of motion.

关 键 词：机器人灵巧手 柔性驱动模块 绳传动 连杆耦合机构 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]