摘要
通过分析人手指的结构和运动,设计了一种基于绳索牵引的多关节仿人机械手抓握装置。该装置以舵机为动力源,采用绳索进行运动传递,并在手指抓握侧安装压力传感器,利用单片机实现装置的闭环控制。通过SolidWorks软件建立了抓握装置的三维模型,确定了不同抓握工况下的关节运动参数,并将其输入控制程序用于运动控制。经过抓握实验发现,该装置动作协调,灵敏度较高,抓握功能可靠。
By analyzing the structure and motion of human fingers,a multi-joint grasping device of humanoid manipulator based on rope traction is designed.The device is driven by steering gear and controlled by single chip microcomputer.The motion is delivered by rope and the pressure sensor applied for closed-loop control is installed on the finger gripping side.The three-dimensional structure is modeled by SolidWorks software,and the motion parameters under different gripping conditions are determined,which are input into the control program and applied for motion control.The grasping experiment shows that the device has the characteristics of coordinated action,high sensitivity and reliable grasping function.
作者
侯津博
刘静娜
叶龙飞
胡凯恒
管邦龙
梁洺
李卓欣
HOU Jin-bo;LIU Jing-na;YE Long-fei;HU Kai-heng;GUAN Bang-long;LIANG Ming;LI Zhuo-xin(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384 China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384 China;School of Integrated Circuit Science and Engineering,Tianjin University of Technology,Tianjin 300384 China)
出处
《科技创新与生产力》
2021年第10期102-106,共5页
Sci-tech Innovation and Productivity
基金
天津市自然科学基金项目(18JCQNJC75000)
天津理工大学教学基金项目(ZX19-05)
天津理工大学大学生创新创业训练计划项目(202010060109)。
关键词
仿人机械手
绳索牵引
闭环控制
抓握装置
humanoid manipulator
rope traction
closed-loop control
grasping device
