一种单电机驱动多指多关节机械手的设计

为了使机械手灵巧、稳妥地抓取物体，设计了一种新型结构的单电机驱动4 指12 关节机械手爪．该手 爪由电机驱动一根十字连杆，其端部分别连接4 个手指的第1 动力连杆；每个手指有3 个指节，由2 个平行四边形 的指节结构确保手指末端做平移运动；每个手指的第2 动力连杆具有延伸滑槽，当第2 动力连杆运动时，经过特别 设计的滑槽在固定支点滑动，可使手指末端匀速运动．该新型的单电机驱动手爪设计方案实现了机械手控制简单、 抓握可靠的目的．

Design of a Multi-Fingered and Multi-Joint Gripper Based on Single Motor Driving

In order to grasp objects dexterously and stably by robot, this paper proposes a new structure for four-fingered and twelve-joint gripper based on single motor driving. The motor drives a cross-linkage, whose terminal connects the first power rod of each finger. Every finger has three joints, and two knuckles each with a parallelogram structure ensure the translational motion of fingertip. The second power rod of each finger has a prolonged chute, and the specially designed chute shifts around a fixed fulcrum to realize the fingertip uniform motion while the second power rod moves. The new design scheme of the single motor driven gripper is of simple control and solid grasp.