气动柔性五指机械手的运动学及抓持能力

Kinematics and Its Grasp Ability of Pneumatic Flexible Five-fingered Robot Hand

  • 摘要: 根据人手仿生学结构,采用2种自主开发的柔性关节,研发了气动柔性仿人机械手.该机械手有5根手指,每根手指由关节本体和驱动装置复合一体的3个柔性关节组成.首先采用参数化齐次坐标变换矩阵,建立了机械手运动学方程.而且分析了机械手的工作空间,并对机械手摆出复杂手势和取物进行了仿真.相应的实物样机实验通过机械手气动平台完成,验证了该机械手的灵活性及其功能.测试了柔性手指在不同通气方式下手指各关节的夹持力.该机械手具有较高灵活性,能够完成抓、握、捏、夹和拧等13种取物模式,对物形变化具有较强的适应性.

     

    Abstract: According to anatomical structures of human hand, a pneumatic flexible humanoid robot-hand is developed using two types of flexible joints designed by ourselves. The robot hand has five fingers and each finger is composed of three flexible joints in which the body of joint and the driving device are combined into one. The kinematics equations of the robot hand are established employing parameterized homogeneous coordinate transformation matrix. Furthermore, the workspace of the robot hand is analyzed, and on that basis, simulation are performed on the robot hand posing complex postures and grasping objects with different shapes. Subsequently, relative prototype experiments are accomplished on the pneumatic control platform, to verify the function and the dexterity of the robot hand. Also, the clamping forces of all joints on the flexible finger with different ventilation modes are tested. In short, the developed robot hand has high dexterity to complete 13 kinds of actions, like grasp, grip, kneading, screwing and so on, to adapt to the shapes of the objects well.

     

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