摘要
仿人手五指机械手在残疾人假肢、远程手术操作、精细微操作等方向上有着广泛的应用前景。为仿人手五指机械手的设计提供依据和参考,设计出合适的仿人手五指机械手,本文按驱动方式的不同,分别介绍了绳索驱动型、连杆驱动型、气压驱动型和关节电机驱动型等种类的五指机械手的工作原理和典型代表。最后,分析各种仿人手五指机械手的优缺点,并给出了其各自的应用方向。
The humanoid five-finger manipulator has broad applications in the direction of prosthetic limbs, remote operation and fine micro operation. In order to provide the basis and reference for the design of the humanoid five fingers manipulator and design an appropriate humanoid five fingers manipulator, according to the different driving modes, this paper introduces the working principle and typical representative of a variety of five-finger manipulator, such as rope drive, connecting rod drive, pneumatic drive and joint motor drive. Finally, the advantages and disadvantages of all kinds of humanoid five fingers manipulator are analyzed, and their applications directions are given respectively.
作者
乔宗原
李跃松
赵怀勇
Zongyuan Qiao;Yuesong Li;Huaiyong Zhao(School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang Henan)
基金
河南科技大学实验技术开发基金项目(SY1718003)
河南科技大学2017年度大学生研究训练计划(2017020)资助。
关键词
仿生
机器人
五指机械手
自由度
气动肌肉
Bionics
Robot
Five-Finger Manipulator
Degree of Freedom
Pneumatic Muscle
