基于套索传动的五指灵巧手设计与主从控制  

Design and Master-Slave Control of Dexterous Hands with Five Fingers Based on Tendon-sheath Transmission

作　　者：尹猛[1,2,3] 徐志刚 赵志亮[1,2,4] 韩伟 YIN Meng;XU Zhigang;ZHAO Zhiliang;HAN Wei(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,110016;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang,110016;Shenyang Institute of Automation,University of Chinese Academy of Sciences,Shenyang,110016;School of Mechanical Engineering and Automation,Northeastern University,Shenyang,110819)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110016 [3]中国科学院大学沈阳自动化研究所,沈阳110016 [4]东北大学机械工程与自动化学院,沈阳110819

出　　处：《中国机械工程》2021年第8期951-959,共9页China Mechanical Engineering

摘　　要：为了使灵巧手更加轻质化、拟人化,设计了一种由舵机经套索驱动的19关节灵巧手。参照人手关节确定灵巧手的构型,通过套索传动实现了关节解耦与驱动后置,并分别对关节机构与驱动集成进行了设计。建立灵巧手多指运动学模型并对其工作空间进行了分析;基于弯曲传感器与主从映射算法实现了抓取的主从跟踪控制。搭建灵巧手样机并进行关节运动实验与抓取控制实验。实验结果表明,将套索传动应用于灵巧手具有可行性,基于主从控制可以实现灵巧手对多种物体的抓取。In order to make the dexterous hand more light and anthropomorphic,a 19 joints dexterous hand driven by steering engine through tendon-sheath transmission was designed.Firstly,the configuration of the dexterous hands was determined by referring to the human hand joints.Joint decoupling and drive postposition were realized using tendon-sheath transmission.Joint mechanisms and driving integration were designed separately.Then,a multi-fingers kinematic model of dexterous hands was established and the workspace was analyzed.The master-slave tracking control of grasping was realized based on the sensors and master-slave mapping algorithm.Finally,a prototype of dexterous hand was built,and the joint motion experiments and grasping control experiments were carried out.Experimental results show the feasibility of applying the tendon-sheath transmission to dexterous hands.The dexterous hands may grasp a variety of objects based on master-slave control.

关 键 词：套索传动 五指灵巧手 关节机构 工作空间 主从控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]