机器人多指灵巧手及其驱动系统研究的现状  

Review of research on multi-fingered robot hand and its driving system

作　　者：张立彬[1] 杨庆华[1] 胥芳[1] 鲍官军[1] 阮健[1] 

机构地区：[1]浙江工业大学机电工程学院,杭州310032

出　　处：《农业工程学报》2004年第3期271-275,共5页Transactions of the Chinese Society of Agricultural Engineering

摘　　要：对国内外多指灵巧手的研究进展进行了综述,分析了传统工业机器人的末端执行器的局限性,展望了机器人灵巧多指手的必然发展趋势;同时对这些多指灵巧手的驱动器及其传动系统进行对比分析,提出了今后多指灵巧手驱动器及其传动系统的的发展趋势。The general situation of the research on multi-fingered robot hands at home and abroad is summed up in this paper. The localizations of the end actuators on traditional industrial robot are analyzed. The developing trends of the multi-fingered robot hands are prospected. At the same time, the drivers and transmission systems of the multi-fingered robot hands are compared with one another to be analyzed. The developing trends of the drivers and transmission of the multi-fingered robot hands are put forward.

关 键 词：多指灵巧手 农业机器人 驱动器 传动系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]