摘要
在分析了手指与物体的接触及在接触处的相对运动后,给出了满足柔性手运动功能并便于动力传输的3R 和4R 手指机构的所有结构型式,从中选择了便于运动控制的3R 和4R 手指机构各一种.在考虑关节转角极限值的条件下,讨论了这两种手指机构工作空间,提出了使工作空间体积达到最大的条件.
After analysing the contact and the motion between fingertip and an object,this paper presents all the possible constructions with three or four revolute joints (3R or 4R) which can be used as finger mechanisms and are easy for power ttansfer.By comparison,a 3R and a 4R constructions easy to coutrol are adopted for fingers.The reachable workspaees of these two fingers with joint limits are discussed,and the conditions of maximizing the workspaees are put forward.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
1990年第1期9-14,共6页
Journal of Southeast University：Natural Science Edition
关键词
机器人
手
手指机构
柔性
robots
hand
fingers
mechanism synthesis
