摘要
提出一种欠腱驱动多指灵巧手 ,它具有结构简单 ,操作灵巧 ,控制容易 ,较高的操作适应性。每个多指节手指仅用一个腱驱使手指弯曲运动。文中描述了欠腱驱动多指灵巧手的结构设计与手指位移分析 ,与现有的多指灵巧手和欠驱动多指杆机器人手相比 ,这种多指灵巧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 。
A kind of multi fingered dexterous hand with underactuated tendons is presented in this paper.It is simple structure,dexterous operation,easy control,and higher operating adaptability.Each multiphalanges finger with only one actuator of tendon can perform movement in bending finger manners.This paper described the structure design of multi fingered dexterous hand and displacement analysis of the finger.The multi fingered dexterous hand has simpler and more compact stucture than current multi fingered dexterous hands and underactuated hands of robot with multi phalanges.It can reduce the control complexity,weight and cost,and can realize the ability of catching different objects in multi functions.
出处
《机械设计与研究》
CSCD
2003年第1期59-60,共2页
Machine Design And Research
基金
浙江省自然科学基金资助项目 (5 0 0 0 3 0 )
关键词
设计
欠腱驱动手
多指灵巧手
运动分析
hand of underactuated tendons
multi fingered dexterous hand
kinematics analysis
