气动机器人多指灵巧手——ZJUT Hand

doi:10.3724/SP.J.1218.2012.00223

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王志恒, 钱少明, 杨庆华, 鲍官军, 张立彬. 气动机器人多指灵巧手——ZJUT Hand[J]. 机器人, 2012, 34(2): 223-230.DOI: 10.3724/SP.J.1218.2012.00223. WANG Zhiheng, QIAN Shaoming, YANG Qinghua, BAO Guanjun, ZHANG Libin. Pneumatic Robot Multi-fingered Dexterous Hand——ZJUT Hand. ROBOT, 2012, 34(2): 223-230. DOI: 10.3724/SP.J.1218.2012.00223.

摘要

总结了现有灵巧手的缺点,例如结构复杂、难以控制等, 并在此基础上提出了一种新型的气动驱动多指灵巧手,命名为ZJUT Hand.基于一种新型的气动柔性驱动器FPA,设计了气动刚柔性弯曲关节及侧摆关节; 在此基础上给出了一种4自由度气动拟人手指;为了获得较高的模块化集成度, 将5个完全相同的手指装配在拟人手掌上,构成具有5个手指、20个自由度的ZJUT Hand的本体结构;采用仿生学优化方法确定ZJUT Hand的结构参数,并对其本体结构进行了抓持仿真实验.仿真结果表明:ZJUT Hand能够对圆柱、长条形、球形等典型形状的物体实现抓持, 并能够模拟人手实现对捏、夹持、勾拉等复杂拟人手形.详细设计了ZJUT Hand的力/位传感系统.完成了ZJUT Hand的抓取实验,结果表明:ZJUT Hand能够对典型形状目标物体实现稳定抓取.最后,简单总结了ZJUT Hand的特色之处.

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	王志恒
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	张立彬

关键词 ：气动柔性驱动器(FPA), 弯曲关节, 侧摆关节, 力/位传感系统, 机器人多指灵巧手

Abstract：

For the shortcomings of existing dexterous hands, such as structure complexity and control difficulty, a new type of pneumatic multi-fingered dexterous hand, named ZJUT Hand, is proposed. Based on a flexible pneumatic actuator (FPA), pneumatic stiffness/compliance bending joint and side-sway joint are designed. After that, a 4-DOF pneumatic anthropomorphic finger with four joints is assembled. To achieve a high degree of modularity, five identical fingers are installed on a anthropomorphic palm to constitute the body structure of ZJUT Hand with 20 DOFs. The structural parameters of ZJUT Hand are determined by the bionic optimization method, and grasping simulation experiments are carried out for body structure of ZJUT Hand. Simulation results show that: ZJUT Hand can grasp objects with typical shapes such as cylinder, strip and spherical objects, and achieve the pinching, gripping, pulling and other complex movements like human hand. The force/position sensory system for ZJUT Hand is developed. The grasp planning experiments for ZJUT Hand is completed. Experimental results show that ZJUT Hand is able to perform stable grasping for typical target objects. Finally, the characteristics of ZJUT Hand are summarized.

Key words： flexible pneumatic actuator (FPA) bending joint side-sway joint force/position sensory system robot multi-fingered dexterous hand

收稿日期: 2011-09-09 录用日期: 2011-12-19

TP242

基金资助:

国家863计划资助项目(2009AA04Z209); 国家自然科学基金资助项目(51075363); 浙江省自然科学基金杰出青年团队资助项目(R1090674)

通讯作者: 张立彬,robot@zjut.edu.cn E-mail: robot@zjut.edu.cn

作者简介: 王志恒(1983-),男,博士.研究领域:机器人多指灵巧手相关技术,机电一体化技术.
钱少明(1973-),男,博士,副教授.研究领域:机器人多指灵巧手相关技术.
杨庆华(1964-),男,博士,教授.研究领域:冷挤压,机电一体化技术.

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2012.00223 或 https://robot.sia.cn/CN/Y2012/V34/I2/223

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