五指仿人灵巧手的刚柔耦合结构设计及控制  

Design and Control of a Rigid-flexible Coupling Humanoid Dexterous Hand with Five Fingers

作　　者：杨后乐 张宁斌 谷国迎 丁汉[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《机电一体化》2021年第6期25-34,共10页Mechatronics

基　　金：国家自然科学基金项目(编号52025057);上海市科学技术委员会项目(编号20550712100)。

摘　　要：针对传统仿人灵巧手依赖于复杂驱动传动机械结构和控制方法,以及欠缺良好抓取顺应性的问题,基于软体机器人技术,提出了五指仿人灵巧手的刚柔耦合结构设计及控制方法。根据对人手结构与功能的分析,设计了具有气动软体手指、刚性掌部与腕部关节的五指仿人灵巧手,保证灵巧性的同时简化了仿人灵巧手的机构与控制方法。根据灵巧手控制需求,基于bang-bang反馈控制方法,实现了一种具备气压稳定控制和抗干扰能力的驱动控制系统。设计并进行了多指对掌实验、面向标准测试集的灵巧柔顺抓取实验和实际操作实验,证明了灵巧手系统具备良好的多指对掌能力和灵巧、柔顺、稳定抓取能力。In order to simplify the structure of humanoid dexterous hand and strengthen their compliance,this article develops a design and control method of a rigid-flexible coupling dexterous hand with five fingers.The dexterous hand with soft fingers,rigid palm joint,rigid wrist joint and 8 degrees of freedom is designed to achieve high compliance as well as simplify the structure and control methods;Also,a control system with pressure control and anti-interference abilities is developed based on bang-bang control strategy.We carry out three experiments,including the Kapandji,the dexterous grasping and the manipulation experiment,which demonstrates the steady,compliant,dexterous grasping ability and Kapandji ability of this hand system.

关 键 词：仿人灵巧手 气动控制系统 刚柔耦合 灵巧抓取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]