用于灵巧手的新型两自由度关节机构  

Design and analysis of an anthropomorphic finger joint for robotic dexterous hand

作　　者：刘博[1] 郭卫东[1] 张玉茹[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《北京航空航天大学学报》2004年第1期40-42,共3页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金资助项目 (599850 0 1)

摘　　要：提出并设计完成了一种用于灵巧手的两自由度关节机构 ,该机构用于连接灵巧手的下指节与掌骨节 ,使得下指节相对掌骨节同时实现屈曲和侧展 2个运动 .在完成两自由度关节机构设计的基础上 ,对该机构进行了运动学分析 ,并应用虚拟样机技术进行了验证 .One of the problems in the design of a robotic dexterous hand is that it is difficult to achieve the same size of the human counterpart with all the actuators integrated into the hand. The design of an anthropomorphic joint which provides pitch and yaw motion of the finger relative to the palm was described. The joint consists of two intersecting axes and five bevel gears, which allows the motors to be placed in the palm to form a compact structure. The kinematic model of the joint was developed and verified by a virtual prototype. The joint can improve the dynamic performance and simplify the structural design of the hand.

关 键 词：机构 关节 虚拟样机 灵巧手 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]