| 闭式链灵巧手指机构的设计与分析 |
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| 引用本文： | 施建,颜国正,王坤东,方昀. 闭式链灵巧手指机构的设计与分析[J]. 机械科学与技术, 2006, 25(7): 848-851 |
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| 作者姓名： | 施建 颜国正 王坤东 方昀 |
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| 作者单位： | 上海交通大学电信学院820研究所,上海200240 |
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| 摘 要： | 对于机械灵巧手的手指机构,针对传统传动方式腱传动具有传递刚性不足的缺点,提出了一种闭式链连杆传动的灵巧手指机构,分析了该闭式链的机构组成和闭式链连杆传动的特点,研究了手指机构的运动学,最后对新机构进行了运动仿真。结果表明:这种新型的手指机构在需要的工作空间内无干涉现象,运动性能良好。
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| 关 键 词： | 灵巧手指 闭式链连杆机构 运动学 仿真 |
| 文章编号： | 1003-8728（2006）07-0848-04 |
| 收稿时间： | 2005-05-27 |
| 修稿时间： | 2005-05-27 |
Design and Analysis of a Closed Link Mechanism of Dexterous Fingers |
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| Shi Jian,Yan Guozheng,Wang Kundong,Fang Yun. Design and Analysis of a Closed Link Mechanism of Dexterous Fingers[J]. Mechanical Science and Technology for Aerospace Engineering, 2006, 25(7): 848-851 |
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| Authors: | Shi Jian Yan Guozheng Wang Kundong Fang Yun |
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| Affiliation: | 820 Institute, Shanghai Jiaotong University, Shanghai 200240 |
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| Abstract: | The tendon transmission of the fingers of a mechanical dexterous hand in the traditional transmission mode has the disadvantage of insufficient stiffness of dynamic transmission.Therefore the paper presents a dexterous finger mechanism based on a closed link mechanism.The closed link mechanism′s composition and its transmission attributes are analyzed,and the kinetics of the finger mechanism is studied.Finally,the kinetic simulation of the novel mechanism is carried out.The simulation result shows that no interference exists in required workspace and the mechanism works very well. |
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| Keywords: | dexterous finger closed link mechanism kinetics simulation |
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