仿人机械手设计与硬度感知研究

硬度作为物体的重要物理属性之一，在一定程度上影响了机械手对物体的智能抓取控制.为提高机械手自适应性、集成化和轻量化，本文设计并制作了基于3D打印技术的模块化多自由度仿人机械手.通过微型丝杠电机牵引钢丝绳运动，实现四指弯曲和拇指弯曲与侧摆.本文重点研究了仅基于电流传感器反馈的物体硬度感知策略，无需增加额外的外部传感器，弥补了大多数机械手难以直接区分物体软硬属性的缺陷.通过将该机械手与软体机械臂集成，实现了对不同硬度的软烂水果和新鲜水果的分类挑选.

Anthropopathic Robotic Hand Design and Hardness Recognition Research

The manipulator plays an important role in improving the intelligence and execution ability of the robot. Hardness， as one of the important physical properties of an object， affects partly the intelligent grasping control of a manipulator. In order to make it possible for the manipulator to improve characteristics of good adaptability， integration and lightweight， an anthropopathic robotic hand based on 3D printing technology was designed. The manipulator worked via the wire ropes pulled by micro-motor screws， and the micro-motor screws were embedded in the palm of the hand. Thus the bending motion of four fingers and the bending and swinging motion of the thumb can be realized. Based on the platform， this work focuses on the object hardness recognition on the basis of current sensor feedback only， without using additional external sensors.It makes up for the disadvantage that most manipulators cannot directly distinguish the hardness of objects. By integrating the robotic hand with a soft arm， the classification for rotten fruits and fresh fruits with different hardness is realized.