一种新的多功能手部机构的组成研究

Structure Study of a New Multi-functional Hand-mechanism

  • 摘要: 作者首先对夹持器和现有机器人手部机构存在的主要问题进行分析,进而对新的机器人手部机构提出四方面的功能要求.本文在引进机构学两个重要概念——活动度(Mobility)和连通度(Connectivity)的基础上,推导出机器人手部机构必须满足的两个条件.在众多的可行方案中,作者选取一种自由度最少,简单实用的五指机构A3-A3-A3-C1-C1作为新的多功能手部机构.

     

    Abstract: In this paper,we study current robot grippers and hand-mechanisms problems,and put forward four functional requirements of a new robot hand-mechanism.Onthe basis of two fundamental conceptions——mobility and connectivity of the mechanism,we get two conditions which must be satisfied by a robot hand-mechanism.And finally,we select from many feasible schemes a certain kind of five-finger-mechanism,namely,A3-A3-A3-C1-C1,as the new multi-functional hand-mechanism,which is a simpleand practical mechanism with minimum degrees of freedom.

     

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