基于套索传动的五指灵巧手设计与主从控制

doi:10.3969/j.issn.1004-132X.2021.08.009

摘要/Abstract

摘要： 为了使灵巧手更加轻质化、拟人化，设计了一种由舵机经套索驱动的19关节灵巧手。参照人手关节确定灵巧手的构型，通过套索传动实现了关节解耦与驱动后置，并分别对关节机构与驱动集成进行了设计。建立灵巧手多指运动学模型并对其工作空间进行了分析；基于弯曲传感器与主从映射算法实现了抓取的主从跟踪控制。搭建灵巧手样机并进行关节运动实验与抓取控制实验。实验结果表明，将套索传动应用于灵巧手具有可行性，基于主从控制可以实现灵巧手对多种物体的抓取。

关键词: 套索传动, 五指灵巧手, 关节机构, 工作空间, 主从控制

Abstract: In order to make the dexterous hand more light and anthropomorphic, a 19 joints dexterous hand driven by steering engine through tendon-sheath transmission was designed. Firstly, the configuration of the dexterous hands was determined by referring to the human hand joints. Joint decoupling and drive postposition were realized using tendon-sheath transmission. Joint mechanisms and driving integration were designed separately. Then, a multi-fingers kinematic model of dexterous hands was established and the workspace was analyzed. The master-slave tracking control of grasping was realized based on the sensors and master-slave mapping algorithm. Finally, a prototype of dexterous hand was built, and the joint motion experiments and grasping control experiments were carried out. Experimental results show the feasibility of applying the tendon-sheath transmission to dexterous hands. The dexterous hands may grasp a variety of objects based on master-slave control.

Key words: tendon-sheath transmission, dexterous hand with five fingers, joint mechanism, working space, master-slave control

中图分类号:

TP242.6

尹猛, 徐志刚, 赵志亮, 韩伟, . 基于套索传动的五指灵巧手设计与主从控制[J]. 中国机械工程, 2021, 32(08): 951-959.

YIN Meng, XU Zhigang, ZHAO Zhiliang, HAN Wei, . Design and Master-Slave Control of Dexterous Hands with Five Fingers Based on Tendon-sheath Transmission#br#[J]. China Mechanical Engineering, 2021, 32(08): 951-959.

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http://www.cmemo.org.cn/CN/Y2021/V32/I08/951

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