新型仿生手设计与柔性触感研究  

Design and Research on Tactile Perception of Novel Bionic Hand

作　　者：李文军[1] 李彩玲[1] LI Wenjun;LI Cailing(LinFen Vocational and Technical College,Linfen Shanxi 041000,China)

机构地区：[1]临汾职业技术学院,山西临汾041000

出　　处：《机械设计与研究》2022年第2期56-60,65,共6页Machine Design And Research

基　　金：山西省规划课题ZC—20070。

摘　　要：针对多自由度仿生手成本高、感知能力差等问题,采用电磁丝杆传动结构,设计了基于单个电机驱动的6自由度机械仿生手。通过滑轮-弹簧复位方式,使手指驱动效率提升了6%,通过柔性气囊技术,使手指具备了仿人的触感反馈能力。与传统刚性仿生手相比,柔性气囊使接触面积提升了约4倍,冲击力可吸收17%以上,负载能力提升约4.6倍,极大提升了仿生手性能,研究结果为仿生手向低成本的仿生触感方向提供了思路。Aiming at the problems of high cost and poor perception ability of multi-degree-of-freedom bionic hands,a 6-degree-of-freedom mechanical bionic hand driven by a single motor is designed using the electromagnetic screw transmission structure.Through the pulley-spring return mode,the driving efficiency of the finger is increased by 6%.Through the flexible airbag technology,the fingers have the ability of humanoid touch feedback.Compared with the traditional rigid bionic hand,the contact area is increased by 4 times,more than 17%of the impact force can be absorbed,and the load capacity is increased by about 4.6 times.The research results provide the ideas for the low-cost and multi perception bionic hands.

关 键 词：电磁丝杆 驱动效率 柔性气囊 触觉感知 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]