超声电机驱动五指灵巧手的设计与仿真

设计一个由超声电机驱动的仿人五指灵巧手,由于超声电机的一些优点,使得该五指灵巧手与人手相仿,共有20个独立自由度,重量不足1000 g。为了检验设计方案是否能达到预期的效果,运用ADAMS分析软件对模型进行了运动学和动力学的仿真,仿真结果表明设计方案合理可行。

Design and Simulation of Five-fingered Dexterous Hand Driven by Ultrasonic Motor

We design a five-fingered dexterous hand driven by an ultrasonic motor,whose power is conveyed to various joints by elastic belts of the ultrasonic motor placed at the palm of the dexterous hand.The ultrasonic motor takes small space and can produce low-speed large moment of torque.Therefore,the size of the hand is almost that of a human hand and its weight is less than 1000g.Another similarity of the dexterous hand with human hand is that it has 20 independent degrees of freedom.To verify the reasonableness of the design,we simulate the kinematics and dynamics of the dexterous hand using ADAMS.The simulation results show that the moment provided by the ultrasonic motor can satisfy the motion requirement of the dexterous hand.