智能三指灵巧手结构设计及验证  

Structural Design and Verification of Intelligent Three-finger Dexterous Hand

作　　者：宋宇晓 SONG Yuxiao(SIASUN Robot&Automation Co.,Ltd.,Shenyang 110168,China)

机构地区：[1]沈阳新松机器人自动化股份有限公司,沈阳110168

出　　处：《机械工程师》2022年第9期118-121,124,共5页Mechanical Engineer

摘　　要：针对市场上灵巧手结构复杂、体积大等弊端,设计了具有欠驱动的三指智能灵巧手,实现一个电动机控制2个关节运动。可分别控制3根手指,能够适应异形物体抓取,机械自锁的结构可提高抓取可靠性。灵巧手内部集成多种传感器,可测量指尖力矩和关节运行角度,通过软件算法实现掉落感知、防脱落、防碰撞和人机协作等功能。在硬件方面设计了驱控一体板卡,大大缩小了灵巧手体积。经过两代样机研制,验证了智能三指灵巧手功能的可靠性。Aiming at the disadvantages of complex structure and large size of the dexterous hand on the market, an intelligent three-finger dexterous hand with underactuation is designed, which realizes the motion of two joints controlled by one motor. It can control 3 fingers respectively, which can adapt to the grasping of special-shaped objects, and the mechanical self-locking structure can improve the grasping reliability. A variety of sensors are integrated inside the dexterous hand, which can measure fingertip torque and joint running angle, and realize functions such as drop perception,anti-fall, anti-collision, and human-machine collaboration through software algorithms. In terms of hardware, an integrated drive and control board is designed, which greatly reduces the size of the dexterous hand. After two generations of prototype development, the reliability of the smart three-finger dexterous hand function has been verified.

关 键 词：智能灵巧手 欠驱动 机械自锁 力矩传感器 霍尔传感器 驱控一体 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]