| DLR/HIT多指机器人灵巧手的研究 |
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| 引用本文： | 刘伊威,金明河,刘宏. DLR/HIT多指机器人灵巧手的研究[J]. 哈尔滨工业大学学报, 2009, 41(5): 47-51 |
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| 作者姓名： | 刘伊威 金明河 刘宏 |
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| 作者单位： | 哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001 |
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| 摘 要： | 基于机电一体化设计理念和集成化、模块化设计方法研制了DLR/HIT灵巧手,DLR/HIT灵巧手具有4个相同结构的模块化手指,共具有13个自由度,具有拟人手形的外观.采用商品化的直流无刷电机实现了手指的驱动;手指具有位置、力/力矩及温度等多种感知能力;基于DSP/FPGA等实现了手指的通讯和实时控制;高度集成,将所有部件均集成在手指和手掌内.DLR/HIT手具有很好的可靠性、可操作性和精细操作能力.
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| 关 键 词： | DLR/HIT 机器人灵巧手 传感器 |
DLR/HIT dextrous robot hand |
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| LIU Yi-wei,JIN Ming-he,LIU Hong. DLR/HIT dextrous robot hand[J]. Journal of Harbin Institute of Technology, 2009, 41(5): 47-51 |
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| Authors: | LIU Yi-wei JIN Ming-he LIU Hong |
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| Affiliation: | (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | The DLR/HIT hand with a nice envelop is a multisensory and integrated four-fingered hand with total thirteen DOF,which is developed based on the idea of mechatronic integration and the method of integration and modularization. The actuators are all commercially available brushless DC motors. Position sensors,force/moment sensor and temperature sensor have been mounted for a finger. Communication and real-time controller have been developed based on DSP/FPGA chips. Integration of all parts in finger body and palm is achieved. The DLR/HIT hand has great reliability and capability for fine manipulation. |
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| Keywords: | DLR/HIT |
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