一种新型仿生机械手控制及实验研究  

Study on Control and Experiment of a Novel Bionic Mechanical Finger

作　　者：李海涛 陈阳阳 LI Haitao;CHEN Yangyang(School of Mechanical and Electrical Engineering,Shanxi University of Science and Technology,Shaanxi 710021,China)

机构地区：[1]陕西科技大学机电工程学院,陕西710021

出　　处：《集成电路应用》2024年第3期81-83,共3页Application of IC

基　　金：国家自然科学基金项目(52105556)。

摘　　要：阐述针对欠驱动仿生机械手操控不灵活、结构复杂、体积大的问题,设计一种新型全驱动仿生机械手。通过对手指关节的分析,制作出试验样机。通过STM32单片机对试验样机进行控制,并搭建试验平台进行实验验证。结果表明,抓取物体的范围为5~220mm,抓取对象的重量在0.5~1.5kg之内。This paper describes the design of a new fully actuated biomimetic robotic arm to address the issues of inflexibility,complex structure,and large volume in underactuated biomimetic manipulators.By analyzing the finger joints,it produced an experimental prototype.It controls the experimental prototype through the STM32 microcontroller and builds an experimental platform for experimental verification.The results indicate that the range of grasping objects is 5-20mm,and the weight of the grasping object is within 0.5-1.5kg.

关 键 词：全驱动 仿生机械手 实验控制 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]