新型混合驱动智能仿人手设计  

Design of a new hybrid drive intelligent artificial hand

作　　者：马海杰[1] MA Haijie(Mechanical Engineering Department,Shanxi Institute of Mechanical&Electrical Engineering,Changzhi 046011,China)

机构地区：[1]山西机电职业技术学院机械工程系,长治046011

出　　处：《机械传动》2025年第3期146-154,共9页Journal of Mechanical Transmission

基　　金：2020年山西省高等学校科技创新项目(2020L0754)。

摘　　要：【目的】针对欠驱动和全驱动机械手结构与控制系统不兼容问题,设计了一种混合驱动仿人手,其具有系统集成度高、结构灵活性强等特点。【方法】参照人手灵巧度,对食指和大拇指结构进行优化,使其具备多关节独立驱动和自适应欠驱动能力,并通过锥形螺旋驱动轴结构,优化了手指驱动力;采用扁囊结构在狭小空间下实现了手指侧摆独立驱动,利用热力图解映射关系对传感器布局进行了优化,并对5种传感器多模态应用进行了研究。【结果】制作了具有16个驱动器的仿人手样机,使其具备全智能化抓取及表面纹理识别能力;并对不同驱动模式下的抓取能力进行了测试,为机械手多模态控制研究提供参考。[Objective]Aiming at the incompatibility between the structure and the control system of the underactuated and fully actuated manipulators,a hybrid drive artificial hand is designed,which has the characteristics of high system integration and flexible structure.[Methods]According to the dexterity of human hands,the structures of index finger and thumb were optimized to have multi-joint independent drive and adaptive underdrive ability.The driving force of the finger was optimized through the conical screw drive shaft structure.The flat bag structure was used to realize the independent finger swing drive in a narrow space,and the sensor layout was optimized by the thermodynamic diagram mapping relation.Additionally,the multi-mode application of 5 kinds of sensors was studied.[Results]A hand-like prototype with 16 actuators is made,which has the ability of intelligent grasping and surface texture recognition,and the grasping ability is tested under different driving modes,which provides reference for the research of multi-mode control of manipulators.

关 键 词：结构兼容 螺旋驱动 多模态 纹理识别 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]