| 新型多自由度假手的研制 |
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| 引用本文： | 高一夫,刘伊威,刘宏.新型多自由度假手的研制[J].机器人,2010,32(6):799-804. |
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| 作者姓名： | 高一夫 刘伊威 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,黑龙江,哈尔滨150001 |
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| 基金项目： | 国家863计划资助项目 |
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| 摘 要： | 介绍了一种新型多自由度假手的机械结构、运动方式及其静力学分析．假手的主要结构部件由光敏树
脂制成，使用小型直流伺服电机作为驱动器．手指采用欠驱动及腱驱动方式．该假手具有拟人的外观、较低的整体
重量和对被抓物体外形的适应能力．文章研究了假手的运动特点及接触力规律，通过仿真对假手的接触受力规律进
行了校验．最后通过实验，对假手的运动规律与抓握能力进行了验证．
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| 关 键 词： | 假手 欠驱动 腱驱动 |
| 收稿时间： | 2010-01-25 |
| 修稿时间： | 2010-05-28 |
Design of a Novel Multi-DOF Prosthetic Hand |
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| GAO Yifu,LIU Yiwei,LIU Hong.Design of a Novel Multi-DOF Prosthetic Hand[J].Robot,2010,32(6):799-804. |
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| Authors: | GAO Yifu LIU Yiwei LIU Hong |
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| Abstract: | The structure, motion mode and static analysis of a novel multi-DOF prosthetic hand are presented. The main
parts of this prosthetic hand are made from photosensitive resin, and mini DC (direct current) servo motors are used as
actuators. Underactuated and tendon driven mechanisms are used in fingers. The new prosthetic hand features humanoid
appearance, low weight and adaptive grasp. The movement features of the prosthetic hand and the law of contact force are
studied, and the law is testified by simulation. At the end, the motion law and grasp capability of the prosthetic hand are
verified by experiment. |
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| Keywords: | prosthetic hand underactuated tendon driven |
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