基于腱绳驱动的仿人灵巧手  

Humanoid Dexterous Hand Based on Tendon Rope Drive

作　　者：刘阳 江励 徐俊佳 汤健华 LIU Yang;JIANG Li;XU Junjia;TANG Jianhua(Faculty of Intelligent Manufacturing,Wuyi University,Jiangmen 529020,China)

机构地区：[1]五邑大学智能制造学部,广东江门529020

出　　处：《机械工程师》2024年第4期79-85,共7页Mechanical Engineer

摘　　要：针对仿人灵巧手依赖复杂驱动传动机械结构和控制方法,以及缺乏灵活性、适应性的问题,结合对人手结构与功能的分析,设计了一种仿人灵巧手。从灵巧手的传动和结构两个方面出发,利用柔性腱绳在扭绞过程中的缩短效应作为灵巧手的驱动方案,并研究灵巧手在腱绳传动下的结构设计,通过耦合机构设计实现手指的灵巧抓持。对手指的运动学、静力学进行推导,完成手指工作空间计算。最后进行了不同尺寸物体的抓持试验。结果表明,所设计的仿人灵巧手可在设计范围内对典型形状物体完成稳定、可靠的抓持,并为后续灵巧手抓取控制打下基础。In view of the problem that the humanoid dexterous hand relies on the complex mechanical structure and control method of the drive transmission,as well as the lack of flexibility and adaptability,combined with the analysis of the structure and function of the human hand,a humanoid dexterous hand is designed.Starting from the transmission and structure of the dexterous hand,the shortening effect of the flexible tendon rope in the twisting process is used as the driving scheme of the dexterous hand,and the structural design of the dexterous hand under the tendon rope transmission is studied,and the dexterous grasp of the fingers is realized through the design of the coupling mechanism.The kinematics and statics of the fingers are derived,and the finger workspace is calculated.Finally,the grasping experiments of objects of different sizes are carried out.The results show that the designed humanoid dexterous hand can achieve stable and reliable grasping of typical shape objects within the design range,and lay a foundation for the subsequent dexterous hand grasping control.

关 键 词：仿人灵巧手 缠绕绳驱动 抓取 

分 类 号：TB241[一般工业技术—工程设计测绘]