腱绳驱动仿人灵巧手运动分析  

Motion analysis of humanoid dexterous hand driven by tendon rope

作　　者：王峥宇 张立[1] 陈耀轩 梅杰[1,2] 陈定方 Wang Zhengyu;Zhang Li;Chen Yaoxuan;Mei Jie;Chen Dingfang

机构地区：[1]武汉理工大学交通与物流工程学院,武汉430063 [2]武汉理工大学智能制造与控制研究所,武汉430063

出　　处：《起重运输机械》2023年第24期33-40,79,共9页Hoisting and Conveying Machinery

摘　　要：针对在极端环境下代替人工进行作业的需求,文中设计了一种由腱绳驱动的灵巧手作为高效机器人末端执行器。通过效仿人体骨骼设计,由手掌中的微型电动机转动带动腱绳驱动灵巧手关节转动。对灵巧手分别进行了正逆运动学分析,采用D-H参数法,得到手指末端的位置信息;利用解析法求解雅克比矩阵;进行动力学分析,得出灵巧手控制的基础条件;运用蒙特卡罗法将各手指运动学方程推导计算结果可视化为手指运动空间,结果验证了运动学分分析的正确性,可为灵巧手智能化控制的发展提供参考。To cater the demand of replacing manual work in extreme environment,a dexterous hand driven by tendon rope was designed as an efficient robot end effector.By imitating the design of human skeleton,the micro-motor in the palm drives the tendon rope to drive the dexterous hand joint to rotate.The forward and inverse kinematics of dexterous hand was analyzed,and the position information of finger end was obtained by using D-H parameter method.Jacobian matrix was solved by analytical method.The basic conditions of dexterous hand control were obtained by dynamic analysis.By Monte Carlo method,the results of the derivation and calculation of the kinematic equations of each finger were visualized as the finger motion space,which verifies the correctness of the kinematic analysis and provides a reference for the development of intelligent control of dexterous hands.

关 键 词：腱绳传动 灵巧手 运动学和动力学分析 运动空间可视化 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]