| 仿人型残疾人假手机构的研究 |
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| 引用本文： | 贾文敏,姜力,高晓辉,刘伊威,史士才,蔡鹤皋.仿人型残疾人假手机构的研究[J].机械与电子,2005(7):42-45. |
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| 作者姓名： | 贾文敏 姜力 高晓辉 刘伊威 史士才 蔡鹤皋 |
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| 作者单位： | 哈尔滨工业大学,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金(60275032),国家八六三"计划资助项目(2003AA420010) |
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| 摘 要： | 采用欠驱动原理和耦合原理研制了具有感知功能的集成化多自由度的假手,该手尺寸与成年人手相仿,具有抓握物体自适应能力,能够完成力量抓握和精确抓握。采用数学建模的方法设计了手指的四连杆机构,并进行了参数优化设计及静力学和运动学分析。
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| 关 键 词： | 欠驱动 耦合 假手 |
| 文章编号： | 1001-2257(2005)07-0042-03 |
| 修稿时间： | 2005年3月18日 |
Design of the Mechanism of Humanoid Prosthetic Hand for Handicapped |
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| JIA Wen-min,JIANG Li,GAO Xiao-hui,LIU Yi-wei,SHI Shi-cai,CAI He-gao.Design of the Mechanism of Humanoid Prosthetic Hand for Handicapped[J].Machinery & Electronics,2005(7):42-45. |
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| Authors: | JIA Wen-min JIANG Li GAO Xiao-hui LIU Yi-wei SHI Shi-cai CAI He-gao |
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| Abstract: | A prosthetic hand is developed based on underactuation theory and coupling theory,which has the similar size and multidegrees of freedom and integrate the perceptive faculties.It has the adaptability to grasp the objects and can accomplish power grasp and precision grasp.This paper designs fourbar linkage mechanism through the mathematic modeling.It achieves the optimizing design of parameters and also carries on the analyses of statics and kinematics. |
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| Keywords: | underactuation coupling prosthetic hand |
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