| 末端强力抓取的欠驱动拟人机器人手 |
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| 引用本文： | 张文增,马献德,黄源文,邱敏,陈强.末端强力抓取的欠驱动拟人机器人手[J].清华大学学报(自然科学版),2009(2). |
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| 作者姓名： | 张文增 马献德 黄源文 邱敏 陈强 |
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| 作者单位： | 清华大学机械工程系先进成形制造教育部重点实验室; |
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| 基金项目： | 清华大学基础研究基金资助项目(JC2007009);;国家“八六三”高技术项目(2007AA04Z258) |
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| 摘 要： | 为了实现自适应抓取效果、拟人化外观和具有末端强力抓取功能的机器人手,采用带轮传动、弹簧约束和活动套接的中部指段,设计了一种新型欠驱动手指机构。分析了该手指的强力抓取原理。由此设计了拟人机器人手——TH-3B手。TH-3B手外观、尺寸和动作模仿人手,有5个独立驱动手指、15个关节自由度、6个驱动电机,模块化程度高,结构紧凑,控制容易,质量小,成本低,对所抓物体的形状、大小自动适应,可以实现末端强力抓取,适用于拟人机器人上。
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| 关 键 词： | 机器人技术 拟人机器人手 欠驱动 自适应 末端强力抓取 |
Under-actuated humanoid robot hand with end power grasping |
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| ZHANG Wenzeng,MA Xi,e,HUANG Yuanwen,QIU Min,CHEN Qiang.Under-actuated humanoid robot hand with end power grasping[J].Journal of Tsinghua University(Science and Technology),2009(2). |
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| Authors: | ZHANG Wenzeng MA Xi e HUANG Yuanwen QIU Min CHEN Qiang |
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| Institution: | Key Laboratory for Advanced Materials Processing Technology of Ministry of Education;Department of Mechanical Engineering;Tsinghua University;Beijing 100084;China |
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| Abstract: | An under-actuated finger mechanism was designed for adaptive grasping,human-like appearance and end power grasping based on a combination of belt-pulley transmission,spring constraints and an active sleeve middle phalanx.The end power grasping force is analyzed for a humanoid robot hand(TH-3B hand).The hand is similar to the human hand in appearance,size,and motion with independently driven 5 fingers,15 DOFs,and 6 motors.The hand is highly modular,compact,easy to control,light-weight,and inexpensive.The han... |
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| Keywords: | robot technology humanoid robot hand under-actuation self-adaptation end power grasping |
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