绳索驱动型拟人机械手研制  

Developed on the Rope-driven Anthropomorphic Manipulator

作　　者：黄广伟[1] 陈浩华 赵天婵[1] 张攀峰 Huang Guangwei;Chen Haohua;Zhao Tianchan;Zhang Panfeng(School of Intelligent Manufacturing,City College of Dongguan University of Technology,Dongguan,Guangdong 523419,China;Guangdong Dewei Technology Co.,Ltd.,Dongguan,Guangdong 523419,China)

机构地区：[1]东莞理工学院城市学院智能制造学院,广东东莞523419 [2]广东得为科技有限公司,广东东莞523419

出　　处：《机电工程技术》2020年第12期76-77,132,共3页Mechanical & Electrical Engineering Technology

基　　金：广东省质量工程资助项目(编号:粤教高函〔2017〕214号);广东高校重大科研资助项目(编号:2019KTSCX226)。

摘　　要：为满足肢体缺陷人群对高仿真性且具有高灵巧性的假肢或者替代人手执行危险工作的需求,以人手结构为基础,结合人手部的实际及理论尺寸,使用Solid Works构建了拟人机械手的三维模型,并采用3D打印机打印出实物模型。以Arduino Mega 2560微处理器为控制器,设计了智能移动终端、应用HC-05蓝牙模块为通信模块,研制了具有高仿真性、高灵巧性的可实现抓握、打手势、旋转等动作的往复式双绳索驱动拟人机械手。经现场验证表明,拟人机械手符合设计的性能要求,达到了预期的效果。To meet the needs of physically impaired population for artificial limbs with a high degree of simulation and dexterity or to perform hazardous tasks by using machine in place of hands,a 3 D model of anthropomorphic manipulator was built in Solid Works according to the structure,actual size and theoretical size of hand.The physical model was printed out by the 3 D printer.An intelligent mobile terminal was designed by selecting Arduino Mega 2560 microprocessor as the controller.The HC-05 Bluetooth module was used as the communication module.A reciprocating double-rope-driven anthropomorphic manipulator with a high degree of simulation and dexterity was finally developed to enable a range of movements like grasping,gesturing and rotating.A field test verified that the anthropomorphic manipulator meets the designed performance requirements and achieves the desired results.

关 键 词：绳索驱动 拟人机械手 微处理器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]