摘要
通过对人手指结构的分析,基于Solidworks三维软件设计了一种气动人工肌肉驱动的机器人灵巧手指,按照人手指结构比例进行了优化,并采用触力传感器和电位计来分别检测指尖接触力及三个关节转角,为构成闭环控制产生反馈信号。对所设计的手指进行了运动学分析,确定出手指各关节的运动空间及输出力,为进一步进行灵巧手模块化设计打下了基础。
Through analysis of the structure of human fingers,a dexterous robot finger driven by Pneumatic Artificial Muscle (PAM) is designed based on Solidworks 3D software.Finger structure in accordance with the proportion of hand has been optimized.And contact force sensor and three potentiometers are used to detect the fingertip contact force and three joint angles in order to constitute a closed-loop feedback control.In the article fingers kinematics analysis is completed to determine the finger joint movement space and the output power and it laid the foundation for dexterous hand modular design.
出处
《机电工程技术》
2010年第12期85-87,共3页
Mechanical & Electrical Engineering Technology
基金
河南省教育厅自然科学研究计划项目(编号:2010B460006)
