摘要
目前设计的仿人灵巧手存在成本过高、结构复杂等问题,不利于服务机器人的动作实现与市场拓展。基于此,提出一种简易的仿人灵巧手设计方案。该方案中,仅设计了三根手指,每根手指三个自由度,采用了电机驱动的欠驱动方式,手指每个关节间由交错式钢丝带传动,达到了关节同时转动的设计要求。该设计既完成了仿人动作,又能达到节省空间的目的,且结构简单而紧凑,降低了开发成本。
The current humanoid dexterons hand is problematic, of which the cost is excessive and the structure is complicated, which results in that it is not conducive to the operation of service robots and market expansion. Based on this, we propose a simple humanoid dexterous hand design. The program, only designs three fingers, and each finger has three degrees of freedom, applies one motor-driven under-drive mode. The finger joints are transmitted by interleaved steel belt, which guarantees each of them can rotate at the same time. The design of this simple humanoid robot hand not only ensures the realization of humanoid movements, but also saves spaces and costs, with simple but compact structure.
出处
《南通职业大学学报》
2014年第2期78-82,共5页
Journal of Nantong Vocational University
基金
江苏省自然科学基金项目(BK20131205)
关键词
服务机器人
仿人
灵巧手
超声波电机
service robot
humanoid
dexterous hand
ultrasonic motor
