摘要
从手指关节运动副型式、手指指数和手掌、手指结构、手指材料、各个关节运动的驱动方式以及传动方式、各关节截面的结构型式、传感器的选择和布置等7个方面对灵巧手进行优化分析。考虑到一般性和通用性,对各手指之间的相对位置及姿态、各关节的长度及回转关节的回转角度范围,运用拟人法,类比法,建立优化目标函数和约束条件进行优化计算,设计出一种用于护理机器人上的带手掌的3指9关节灵巧手。对灵巧手的具体结构作了分析,绘出了灵巧手的三维结构模型。优化的护理灵巧手扩大了抓取范围,安装了灵巧手的护理机器人,减轻了护士的劳动强度,提高了护理质量。
Optimizational analysis of dextrous robot hands is carried out by seven factors: pair of finger,number of finger and palm,structure of finger,the way of finger's drive and transmission,structure of finger's cross section,as well as selection and diaposition of sensors.Considering generality and universality,some theoretic optimational calculation towards relative position and posture between fingers,length of every finger-joint,range of revolving finger-joint were quoted.By the way of bionics analogism and optimizational function,an object function and bound for objective function were created.And a kind of dextrous hand with palm,three fingers and nine finger-joint is designed.The 3D structural model of dextrous robot hand is also given.Robot hand which has been optimized expands the application.Nursering robot which is equipped with optimized dextrous robot hand can alleviate nurses' labor,and it can improve nursing quality.
出处
《机械传动》
CSCD
北大核心
2005年第6期20-22,39,共4页
Journal of Mechanical Transmission
基金
国家自然科学基金(05375067)
关键词
多指灵巧手
结构优化
护理机器人
Multi-fingered dextrous robot hands Optimization of structural design Nursing robot hand
