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为了实现自适应抓取效果、拟人化外观和具有末端强力抓取功能的机器人手,采用带轮传动、弹簧约束和活动套接的中部指段,设计了一种新型欠驱动手指机构。分析了该手指的强力抓取原理。由此设计了拟人机器人手——TH-3B手。TH-3B手外观、尺寸和动作模仿人手,有5个独立驱动手指、15个关节自由度、6个驱动电机,模块化程度高,结构紧凑,控制容易,质量小,成本低,对所抓物体的形状、大小自动适应,可以实现末端强力抓取,适用于拟人机器人上。
In order to realize adaptive grabbing effect, humanoid appearance and robotic hand with strong end grabbing function, a new type of under-actuated finger mechanism is designed by using middle finger segment with pulley drive, spring restraint and movable sleeve. Analysis of the fingers of the powerful grasp principle. From this design humanoid robot hand - TH-3B hand. TH-3B hand appearance, size and action to imitate the human hand, there are 5 independent driver fingers, 15 degrees of freedom joints, 6 drive motor, a high degree of modularity, compact structure, easy control, low quality, low cost, The shape and size of the object can be automatically adapted to realize the powerful grab of the end, which is suitable for the humanoid robot.