摘要
通过研究人手的生理结构特点,模仿人手结构,应用欠驱动原理和适应性原理对五指灵巧手进行了初步设计。该灵巧手共有16个自由度,采用了绳驱动机构,具有结构简单、重量轻等优点。通过灵巧手模型的抓取实验,验证了其运动方式和抓取性能。
By studying the physiological characteristics of hands, a five-finger humanoid hand is designed based on the principle of underactuation and adaptability. The dexterous hand is a 16 degree-of-freedom hand using a rope-driven mechanism, featured a simple structure and light weight. Modes of movement and grasping performance of the dexterous hand is verified in grasp-ing experiments.
出处
《上海电机学院学报》
2012年第5期301-305,共5页
Journal of Shanghai Dianji University
关键词
灵巧手
绳驱动
欠驱动
适应性
五指
dexterous robot hand
rope-driven
underactuation
adaptability
five fingers
