摘要
在许多工业应用中 ,常要求机器人手结构简单 ,操作灵巧 ,控制容易 ,且具有较高的操作适应性。开发的欠驱动两指多指节机器人手仅用一台驱动电机就能以直指或曲指方式履行各种工业操作任务。文中描述了欠驱动两指多指节手的结构、工作原理与手指位移分析 ,与现有的欠驱动机器人手相比 ,这种多指节机器人手的结构更为简单紧凑 ,且能减少控制的复杂性、重量和成本 。
In a lot of industrial application, we often require simple structure, dexterous operation, easy control, and higher adaptability of robot hands. The being developed underactuated two fingered multi phalanges hand with only one actuator of electromotor can perform various tasks of industrial operation in extending and bending finger manners. This paper described structure and working principle of two fingered multi phalanges hand and displacement analysis of fingers. The multi phalanges hand has simpler and more compact structure than current underactuated hands of robots. It can reduce the control complexity, weight and cost, and can realize the ability of catching different objects in multi functions.
出处
《机械》
2001年第5期51-52,共2页
Machinery
基金
浙江省自然科学基金资助项目 ( 5 0 0 0 30 )
关键词
欠驱动机器人手
两指多指节手
位移分析
underactuated hand of robots
two fingered multi phalanges hand
displacement analysis
