共查询到20条相似文献,搜索用时 168 毫秒
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安全柔顺地抓取物体是机器人手爪的一项重要指标,气动肌肉作为一种类似生物肌肉的柔性驱动器,可以有助于实现这一目标。讨论了基于生物运动机制的仿人两指手爪的结构和工作原理,建立了气动肌肉驱动手指夹持力的理论模型,指出气动肌肉的输入压力是决定手指抓取力与手指张角大小的唯一因素。实验证实了该手爪可有效地抓取多种易碎、柔软的物体。 相似文献
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针对目前多自由度灵巧手存在的结构复杂、体积庞大等问题,设计了一种结构紧凑、质量轻盈的电机直驱式8自由度三指灵巧手.通过微型电机与齿轮减速器配合使用,实现了关节直驱方式,减少了驱动力损耗,手指驱动力得到有效提高.针对灵巧手在动态抓取模式下的不足,通过嵌入式超声波传感器、压力传感器和角度传感器的联合使用,对灵巧手的动态抓取... 相似文献
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针对目前五指灵巧手自由度低、拆装繁琐等问题,设计出一种模块化、易拆装、直驱式11自由度五指灵巧手.通过永磁铁实现手指关节间的快速拆装,每个手指关节至少有±90°转动范围;通过对大拇指转动角度的特殊设计,可实现灵巧手左/右手模式直接切换以及双侧同时抓取.通过3D打印制作了五指灵巧手样机.针对灵巧手多传感器造成控制系统复杂... 相似文献
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五指仿人机器人灵巧手DLR/HIT Hand II 总被引:4,自引:0,他引:4
基于机电一体化设计思想和最新的驱动技术,研制DLR/HIT II仿人灵巧手。该灵巧手由5个相同结构的模块化手指和1个独立的手掌构成,每个手指有4个关节、3自由度,所有的驱动器和电路板均集成在手指或手掌内。采用新型的体积小输出力矩大的盘式无刷直流驱动电动机、质量轻的谐波减速器、齿形皮带等的驱动传动方案,使手指的体积和质量得到显著减小;采用钢丝耦合传动方案,实现手指末端两个关节的1:1耦合运动;手指具有位置、力/力矩、温度等多种感知功能。层次化的灵巧手硬件结构由手指电气系统、手掌电气系统和PCI总线控制卡等组成,灵巧手具有点对点串行通信、CAN以及网络等多种通信接口。在灵巧手的外观设计中,将外观设计与灵巧手的本体设计融为一体,实现灵巧手与人手相近的体积和外观。5指灵巧手的质量为1.5 kg,手指的指尖输出力10 N。 相似文献
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In order to safely grasp an unknown object and accurately perceive its position in the fingers, a finger-tip force sensor
which can detect the force and position simultaneously was developed for the underwater dexterous hand. This paper introduced
the finger-tip force sensor model which was built by a cylinder elastic body. The principle of force measuring was analyzed
theoretically, which proved the reasonableness of the structure and the equation was inferred for measuring force. Because
of nonlinear and coupling, a feedforward artificial neural network was employed to calibrate the sensor utilizing the data
which were obtained from the tests. The characteristic tests of the sensor showed the maximum error was below 6% in force
measurements and the maximum position error was Φ1.6 mm. Then, the application experiments were carried out and the results
showed the finger system can track the expectation of force trajectory, which indicated measurement accuracy of the sensor
met the demands of research on the underwater dexterous hand. What’s more, the sensor structure can compensate the effect
of water pressure. So the sensor can be integrated into the finger of the underwater manipulator and used under the water. 相似文献
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Handong HU Yiwei LIU Zongwu XIE Jianfeng YAO Hong LIU 《Frontiers of Mechanical Engineering》2022,17(3):35
This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments, such as unstructured or man-made operational errors through comprehensive consideration of cost, accuracy, manufacturing, and application. Based on the concept of mechanical passive compliance, which is widely implemented in robots for interactions, a finger is dedicated to improving mechanical robustness. The finger mechanism not only achieves passive compliance against physical impacts, but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators. It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness. The mechanical design of the finger and its stiffness adjusting methods are elaborated. The stiffness characteristics of the finger joint and the actuation unit are analyzed. Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model. Fingers have been experimentally proven to be robust against physical impacts. Moreover, the experimental part verifies that fingers have good power, grasping, and manipulation performance. 相似文献
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重载锻造操作机夹持力研究 总被引:1,自引:0,他引:1
对重载锻造操作机夹持力计算的重要性和困难性进行分析,指出钳口表面有别于一般意义上的机械手夹持面。并将夹持装置钳口与锻件接触面之间简化为钳口凸齿与锻件挤压槽的作用,提出一种夹持力计算的思路。根据使用工况,将钳口工作分为夹紧状态和夹持状态,阐述两种状态的工作特点和作用,建立工件夹持状态下的受力模型,计算夹持状态下钳口在水平和垂直两个位置时的夹持力。用放大系数修正后的夹持力确定钳杆夹紧液压缸输出力,实现夹紧状态时钳口与工件之间形成充分的凹凸齿作用,以保证钳口夹持状态时能够输出最大夹持力矩。结合钳口与工件接触表面的结构特点和作用,提出钳口凸齿设计的思路和原则。实例计算和虚拟样机仿真证明计算结果有效。 相似文献
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鼠标形桌面主操作手的设计 总被引:1,自引:0,他引:1
为了实现对灵巧手的主从控制,设计了一个鼠标形桌面主操作手。主操作手将操作者手指的运动位置实时传递给从手,在从手抓取物体的过程中,利用直流电机作为主操作手的主动力反馈控制源,通过直流电机的驱动电路控制电机的转矩,将从手感受的力反馈给操作者。整个系统由DSP控制器进行控制。 相似文献