仿生柔性操作器机构的研究

本文从正常人手的结构特点出发,分析了手指基本运动下各关节弯曲角之间的关系.据此,提出一种具有三个指关节的柔性操作器模型,并对其机构姿态在外力作用下或者外界约束下的变化作了定性的分析.该操作不仅能较为逼真地模拟人手的自由伸屈或抓取等动作,而且可以包络方式抓取多种外形物体并实现增力要求.另外,针对柔性操作器的结构特性,文中还对该柔性机构的综合方法进行了论述,提出了两种基本综合方法:弹性元件选择法和结构参数优化法.

A Research of Flexible Manipulator''s Biomachanism

On the basis of the structure of the normal human hand,this paperanalyzes the flexible angle relations of joints under the basic movements of afinger.A model of the flexible manipulator with three finger joints is thuspresented and the changes of its mechanism posture under external forces orconstraints are qualitativey analyzed.Compared with the existing two-fingerholder,whether in function or in appearance,this manipulator can not onlyactually simulate the movements of the human hand,such as stretching out,drawing back or grasping,but can also grasp objects of various shapes orweights in an envelope manner and meet the demand of increasing force.Bes-ides,according to the structural characteristics of the flexible manipulator,the synthetic methods of the flexible manipulator are described and twobasic methods,i.e.,the method of selecting elastic components and the me-thod of optimizing structure parameters,are presented.