| 欠驱动自适应机器人手的研制 |
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| 引用本文： | 史士财,高晓辉,姜力,刘宏.欠驱动自适应机器人手的研制[J].机器人,2004,26(6):496-502. |
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| 作者姓名： | 史士财 高晓辉 姜力 刘宏 |
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| 作者单位： | 哈尔滨工业大学机器人研究所,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家 8 63计划资助项目 (2 0 0 3AA42 0 0 1 0 ) |
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| 摘 要： | 采用欠驱动自适应原理研制了与成年人手大小相仿的五指机器人手，所设计的机器人手结构简单，重量轻，适应性强，它既可以作为仿人形机器人末端操作器，也可以应用于残疾人假手．根据虚功原理建立了3自由度欠驱动手指的准静力学模型．
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| 关 键 词： | 欠驱动 末端操作器 虚功原理 准静力学模型 |
| 文章编号： | 1002-0446(2004)06-0496-06 |
| 收稿时间： | 2004-03-29 |
Development of the Underactuated Self-adaptive Robotic Hand |
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| SHI Shi cai,GAO Xiao hui,JIANG Li,LIU Hong.Development of the Underactuated Self-adaptive Robotic Hand[J].Robot,2004,26(6):496-502. |
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| Authors: | SHI Shi cai GAO Xiao hui JIANG Li LIU Hong |
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| Abstract: | A novel five fingered robotic hand is developed based on underactuated adaptive theory, which has the similar size to that of an adult hand. The underactuated adaptive robotic hand has a simple mechanism and light weight. It has strongly adaptive speciality, and can be used as end effectors of humanoid robots and as the prosthetic hand. A quasi static model of a 3 DOF underactuated finger is built based on virtual power theory. |
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| Keywords: | underactuated end effector virtual power theory quasi static model |
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