拟人机器人手多指欠驱动机构研究

欠驱动机构具有增加抓取稳定性、降低控制难度等优点得到广泛研究.与实现单个手指的多关节动力传递的传统欠驱动机构设计思想不同,提出了一种新型多指欠驱动机构.该机构利用设置于关节轴上的扭簧实现了单个电机对多个手指根部的驱动.经分析,给出了该机构的主要参数设计原则.该机构可以作为拟人机器人手的食指、中指、无名指和小指的根部关节,使机器人手在抓取物体时,四个手指能够自动适应不同形状和尺寸的物体,产生适当的抓持力,抓取稳定性高,控制容易.

Study on Multi-finger Under-actuated Mechanism for Robotic Hand

Considering its advantages of increasing the stability of grasping and reducing the difficulty of controlling, many studies on under-actuated mechanism have been carried out. Compared with the traditional under-actuated mechanism for single multi-joint finger, this paper proposed a novel multi-finger under-actuated mechanism. The mech- anism, by setting springs around joint axis, realizes that one motor drives root joints of multiple fingers. Upon analysis, the main design principle is discussed. The mechanism can be used as the root joints of index, middle, ring and little finger. It also realize passive adaptive grasp to objects of different shapes and sizes and a proper grasping force. It has high grasping stability and low control requirement.