机器人灵巧手研究综述  

A Review of Research on Robotic Dexterous Hands

作　　者：刘伟[1] 肖钊[1] 瞿寅朋 许守亮 Liu Wei;Xiao Zhao;Qu Yinpeng;Xu Shouliang(School of Mechanical Engineering,Hunan University of Science and Technology,Xiangtan 411201,China;Beijing Millet Mobile Software Co.,Ltd.,Beijing 100085,China;Huadian Zhengzhou Mechanical Design Institute Co.,Ltd.,Zhengzhou 450046,China)

机构地区：[1]湖南科技大学机电工程学院,湖南湘潭411201 [2]北京小米移动软件有限公司,北京100085 [3]华电郑州机械设计研究院有限公司,河南郑州450046

出　　处：《机械传动》2024年第9期167-176,共10页Journal of Mechanical Transmission

基　　金：湖湘青年英才科技创新计划(2023RC3174)。

摘　　要：机器人灵巧手可以模仿人类动作,完成复杂场景下的多种任务。机器人灵巧手的研究是开发智能人形机器人的关键技术之一。以机器人灵巧手的研究历程为核心,阐述了多指灵巧手的研究现状,分析了灵巧手的演化过程和研究进展。从自由度数目、驱动方式、机械传动方式和传感技术等方面探讨了灵巧手分类和特征,展望了灵巧手未来的发展趋势。Robot dexterous hand can mimic human movements to realize multiple tasks in complex scenarios,which is a key technology for developing intelligent humanoid robots.Focusing on the research history of robotic dexterity,the current research status of multi-fingered dexterity was elaborated,and the evolution process and research progress of dexterity were analyzed.The classification and characteristics of dexterous hands were discussed in terms of the number of degrees of freedom,drive mode,mechanical transmission mode and sensing technology,and the future development trend of dexterous hands was envisioned.

关 键 词：机器人灵巧手 仿生技术 机械传动 感知技术 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]