四指灵巧手的设计与研究  

Design and research of four-fingered dexterous hand

作　　者：王磊 张磊[1] 章悦 李红兵 孙铭 陆观[1] WANG Lei;ZHANG Lei;ZHANG Yue;LI Hongbing;SUN Ming;LU Guan(School of Mechanical Engineering,Nantong University,Nantong 226000,China;Department of Instrumentation Science and Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]南通大学机械工程学院,南通226000 [2]上海交通大学仪器科学与工程系,上海200240

出　　处：《现代制造工程》2025年第4期69-76,共8页Modern Manufacturing Engineering

基　　金：国家重点研发计划项目(2019YFB2005304);南通市基础科学研究计划-面上项目(JC22022073)。

摘　　要：当前全驱动的灵巧手存在驱动电机过多、抓取力不足等问题;而高度欠驱动的灵巧手又存在独立控制能力低、灵巧性不足等问题。针对当前问题设计了一款基于交叉四连杆的四指灵巧手,将该结构类比成人的手指,实现了近端指节关节和远端指节关节之间的耦合运动;提出与传统偏航-俯仰型不同的翻滚-俯仰型掌指关节结构,应用于除拇指外的三指,实现了手指的屈伸与转动,可丰富灵巧手的抓取姿态,提升其灵巧性;拇指在掌指关节采用侧摆结构,实现与其余三指的配合。在MATLAB软件中建立了手指的运动学模型并求得手指的末端工作空间,通过ADAMS软件对灵巧手进行了仿真,通过分析手指的运动特性,验证了灵巧手结构的合理性。通过样机实验证明了四指灵巧手具有良好的抓取性能与较高的实用价值。At present, the fully driven dexterous hand has many problems such as too many driving motors and insufficient grasping power.However, the highly underactuated dexterous hand has some problems, such as low independent control ability and insufficient dexterity. To solve the current problem, a four-finger dexterous hand based on cross-four linkage was designed, and the coupling motion between proximal and distal knuckle joints was realized by comparing the structure with the finger of an adult. Roll-pitch joint structure other than traditional yaw-pitch was put forward, applied which to 3 fingers except the thumb, enable the 3 fingers to flex and rotate, which can enrich dexterous hand grasping posture and enhance its dexterity;the thumb adopts a lateral swing structure in the metacarpophalangeal joint to achieve coordination with the other three fingers. The kinematics model of fingers were established in MATLAB software and the end working spaces of fingers were obtained. The dexterous hand was simulated by ADAMS software, and the rationality of the dexterous hand structure was verified by analyzing the movement characteristics of fingers. The experimental results showed that the four-finger dexterous hand had good grasping performance and high practical value.

关 键 词：灵巧手 设计 工作空间 ADMAS仿真 抓取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]