高仿真拟人机械手弹性指关节结构设计研究  

Design and Research of Elastic Finger Joint Structure for High-Simulation Anthropomorphic Robotic Hand

作　　者：董艇舰 张吉 王丹峰 吴孟丽 DONG Ting-jian;ZHANG Ji;WANG Dan-feng;WU Meng-li(College of Aeronautical Engineering,Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学航空工程学院,天津300300

出　　处：《机械设计与制造》2023年第9期253-257,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(U1833106)。

摘　　要：随着人工智能技术在各行各业的广泛应用,人们对于机器人的仿真度需求越来越高,而机械手作为机器人的重要组成部件,对其高仿真的研究一直没有停步。基于人手解剖学结构的分析,设计一种具有与人手相似运动特性的弹性铰链指关节,以期实现拟人机械手对人手的高度仿真。首先,从生物医学角度分析了人手解剖学结构。其次,主要对指间关节和掌指关节处结构分别进行设计,并对所设计弹性铰链结构进行研究分析,完成单指结构设计。最后,对单指进行运动学分析,并通过MATLAB进行运动学仿真验证以及单指指尖工作空间分析,为后续控制系统提供参考。With the wide application of artificial intelligence technology in all walks of life,people in mounting numbers place the high value on robot simulation,and robotic hand,as an important component of robot,has never stopped the research on its high simulation.Under the guidance of practical research related to human anatomy,an elastic hinge finger joint with motion characteristics similar to that of the human hand is designed in order to realize the high simulation of the anthropomorphic robot⁃ic hand on the human hand.First of all,the anatomical structure of the human hand is analyzed from the perspective of biomedi⁃cine.Secondly,it mainly designs the structures of the interphalangeal joint and the metacarpophalangeal joint respectively,and conducts research and analysis on the designed elastic hinge structure to complete the single-finger structure design.Finally,the single finger is analyzed in the sense of kinematics,and the kinematics simulation verification and the fingertip workspace analy⁃sis of the single finger are carried out through MATLAB,so as to provide reference for the subsequent control system.

关 键 词：拟人机械手 指关节 结构设计 运动学分析 

分 类 号：TH16[机械工程—机械制造及自动化] TH122