摘要
简要介绍了几种典型手爪机构的结构及设计特点,然后从仿生学的角度,模仿人手的功能、结构,提出了一种仿人型多指机械手机构简易实现的设计。并从结构设计、建模及控制系统的实现等方面给出了较详尽的阐述。最后,运用Matlab对手指模型和腱传动系统模型进行了仿真。对于机构进行的实验证明,由于该设计采用了"欠驱动"的简化结构方式,因此减轻了质量、降低了能耗及制作成本,同时,对手指的建模、控制也变得更为容易,大大提高了操作的适应性。
Structure and design features for several kinds of typical hand mechanism are first discussed,then a simple realization for humanoid multifingered robot hand is put forward on the basis of man hand function and structure from the perspective of bionics. Details are then given in terms of structure design,establishment of mode and realization of control system. Finally, simulations of finger model and the tendon transmission system model are made with Matlab. The experiment proves that ' underactuatuated drive ' structure adopted in the design lessens weight, reduces energy consumption and cost. At the same time, modeling and control of the finger becomes easier and adaptability of operations is raised.
出处
《控制工程》
CSCD
2003年第z1期147-151,共5页
Control Engineering of China
关键词
仿生学
仿人多指机械手
欠驱动
简易实现
bionics
humanoid multifingered hand
underactuatuated drive
simple realization
