摘要
大多数操作手只能实现简单的捏、夹、握功能,和人手的高度灵巧性相比,还存在较大的差距。本文从人手仿生学的角度出发,提出了一种仿拇指与食指操作物体运动特性的灵巧操作手设计。首先,基于对人手操作物体旋转运动特性进行分析,设计出一种具有柔性结构的手掌以及能对物体进行旋转操作运动的灵巧性操作手,对其工作原理进行了阐述,然后,根据灵巧操作手一具体设计实例,分析了其对不同形状物体的抓握能力,最后,分析了灵巧操作手抓取物体并进行旋转操作运动的灵巧性能,为灵巧操作手的发展及应用提供了重要技术参考和研究思路。
Most of the manipulators can only achieve simple functions of pinching,clamping and holding,which is far behind the high dexterity of human hands.From the perspective of hand bionics,this paper presents a design of dexterous manipulator which imitates the motion characteristics of the thumb and the index finger.Firstly,based on the analysis of the rotation characteristics of the hand operated object,a dexterous hand manipulator that can rotate the object,with a palm made of a flexible structure,is designed and its working principle is described.Then,according to a specific design example of the dexterous manipulator,the grasping ability of the dexterous manipulator with respect to different shapes of objects is analyzed.Finally,the dexterous operation is analyzed.The dexterous performance of hand grasping objects and rotating operation provides important technical reference and research ideas for the development and application of dexterous manipulators.
作者
王汝贵
黄海波
李可歌
WANG Rugui;HUANG Haibo;LI Kege(Schoolof Mechanical Engineering,Guangxi University,Nanning 530004,China)
出处
《机械设计与研究》
CSCD
北大核心
2021年第4期49-52,共4页
Machine Design And Research
基金
国家自然科学基金资助项目(51865001)。
关键词
仿生
灵巧操作手
运动特性
抓取能力分析
灵巧性分析
bionic
dexterous manipulators hand
motion characteristics
grasping ability analysis
dexterity analysis
