| 一种自适应拟人手指抓持力分析与结构优化 |
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| 引用本文： | 张文增,陈强,孙振国,徐磊,曹一鹏.一种自适应拟人手指抓持力分析与结构优化[J].机械设计与研究,2003,19(5):16-18. |
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| 作者姓名： | 张文增 陈强 孙振国 徐磊 曹一鹏 |
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| 作者单位： | 清华大学,机械工程系,北京,100084 |
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| 基金项目： | 国家自然科学基金资助项目 ( 50 2 750 83)，国家教育振兴计划项目 |
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| 摘 要： | 采用齿轮齿条传动机构，设计了一种新型自适应拟人手指。该手指自身不带驱动器，适合抓取不同形状、尺寸的物体，使机器人多指手以较少的驱动器驱动较多关节自由度。电机的数量大大减少使机器人手具有许多优点。另外，该手指与人的手指相似，适合用于拟人多指手。分析了该手指抓持力与其设计参数的关系，提出了该手指的结构优化设计原则。
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| 关 键 词： | 拟人手指 饥器人 抓持力 机构设计 结构优化 齿轮齿条传动机构 |
| 文章编号： | 1006-2343(2003)05-016-03 |
| 修稿时间： | 2003年5月6日 |
Analysis of Gvasping Force and Structure Optimization of a Humanoid Finger With Shape Adaptation |
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| ZHANG Wen-zeng,CHEN Qiang,SUN Zhen-guo,XU Lei,CAO Yi-peng.Analysis of Gvasping Force and Structure Optimization of a Humanoid Finger With Shape Adaptation[J].Machine Design and Research,2003,19(5):16-18. |
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| Authors: | ZHANG Wen-zeng CHEN Qiang SUN Zhen-guo XU Lei CAO Yi-peng |
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| Abstract: | This paper designed a novel robot finger with s hape adaptation with gea r and rack transmission.The finger fits to grasp all kinds of objects of differe nt shapes and sizes without a motor so it makes the robot hand realize to actuat e more D OFs with less actuators.The few motors in a robot hand may bear many advantages. Additionally,the finger fits to be mounted in a humanoid multi-fingered hand,be cause it is similar to a human finger.This paper analyzed the relationship betwe en the grasping force of the finger and its design parameters.It also proposed t he design principle of structure optimization of the finger. |
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| Keywords: | robot technology mechanical finger grasping fo rce mechanism design |
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