具有形状自适应的欠驱动拟人机器人手指

为了实现使用较少驱动器获得较多的自由度,从而在不增加控制难度的前提下,更好地抓取物体以及增加手的拟人化,需要研究欠驱动机械手指装置。提出了一种新的设计思想,以此为指导设计了一种机械手指装置,并对其主要设计参数进行了详细分析。试验证明,该装置可以作为机器人拟人手的一个手指或手指的一部分,用以实现机器人拟人手较少驱动器驱动较多的手指关节自由度,并具有抓取不同形状、尺寸的物体的自适应性,降低了装置对控制系统的要求。该装置外形与人手的手指相似,结构简单、可靠、易加工、体积小和重量轻。

UNDER-ACTUATED HUMANOID ROBOT FINGER WITH SHAPE ADAPTATION

To obtain more DOF by fewer actuators with lower control difficulty, under-actuated mechanical fingers are needed, so that a robot hand can grasp objects much better and is more similar to human hand. The design idea on under-actuated fingers is expended, and an experimental under-actuated finger mechanism is developed. As a finger of a robot hand or a part of a finger, this mechanism makes a robot hand have fewer drivers, but more DOF. It can realize passive adaptive grasp to objects of different shapes and sizes without any extra requirements of control precision. With the property of small, light, but reliable, it is easy to produce. Its main parameters for design in detail are described.