| 气动人工肌肉驱动仿人灵巧手的结构设计 |
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| 引用本文： | 彭光正,余麟,刘昊.气动人工肌肉驱动仿人灵巧手的结构设计[J].北京理工大学学报,2006,26(7):593-597. |
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| 作者姓名： | 彭光正 余麟 刘昊 |
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| 作者单位： | 北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081 |
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| 摘 要： | 研究一种气动人工肌肉驱动的多指仿人灵巧手的结构设计. 通过分析正常人体解剖学,针对人类手掌的外形结构、驱动形式及运动规则,设计了一种5指仿人灵巧手. 该灵巧手有5个手指、19个自由度,在外观和功能上与人手接近;手指采用气动人工肌肉驱动,以柔索传动. 实验结果表明,该仿人灵巧手具有很好的柔顺性,并且整体外形和手指关节的运动范围均能达到拟人的效果.
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| 关 键 词： | 灵巧手 人工肌肉 仿生学 |
| 文章编号： | 1001-0645(2006)07-0593-05 |
| 收稿时间： | 12 29 2005 12:00AM |
| 修稿时间： | 2005年12月29日 |
Structural Design of a Dexterous Hand Actuated by Pneumatic Artificial Muscle |
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| PENG Guang-zheng,YU Lin and LIU Hao.Structural Design of a Dexterous Hand Actuated by Pneumatic Artificial Muscle[J].Journal of Beijing Institute of Technology(Natural Science Edition),2006,26(7):593-597. |
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| Authors: | PENG Guang-zheng YU Lin and LIU Hao |
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| Institution: | Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | A structural devise of a dexterous hand with multi-fingers driven by pneumatic artifical muscle is introduced.By studying the shape,structure,driving-model and the rules of movement of human hand from anthropotomy,a dexterous hand close to a human hand in structure and functions with 5 fingers and 19 DOFs is designed.Expeimental results show that the adoption of pneumatic artifical muscle and artifical tendons makes it more flexible.Besides,this sort of dexterous hand can match up with the effect of personification both in external shape and the range of movement. |
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| Keywords: | dexterous hand pneumatic artificial muscle bionics |
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