用于灵巧手的新型两自由度关节机构

刘博; 郭卫东; 张玉茹

用于灵巧手的新型两自由度关节机构

北京航空航天大学机械工程及自动化学院, 北京 100083

基金项目: 国家自然科学基金资助项目(59985001)

详细信息

中图分类号: TP 2413
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- 被引次数: 0
出版历程
- 收稿日期: 2002-09-13
- 网络出版日期: 2004-01-31

Design and analysis of an anthropomorphic finger joint for robotic dexterous hand

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 提出并设计完成了一种用于灵巧手的两自由度关节机构,该机构用于连接灵巧手的下指节与掌骨节,使得下指节相对掌骨节同时实现屈曲和侧展2个运动.在完成两自由度关节机构设计的基础上,对该机构进行了运动学分析,并应用虚拟样机技术进行了验证.两自由度关节机构的应用将对提高灵巧手的动力学特性和简化灵巧手的结构设计起到重要的作用.
- 机构 /
- 关节 /
- 虚拟样机 /
- 灵巧手
Abstract: One of the difficult problems in designing a robotic hand is to achieve the same size of the human counterpart with all the actuators integrated into the hand. The design of an anthropomorphic joint which provides pitch and yaw motions of the finger relative to the palm was described. The joint consists of two intersecting axes and five bevel gears, which allows the motors to be placed in the palm to achieve a compact structure. The kinematic model of the joint was developed and verified by a virtual prototype. The application of the joint can improve the dynamic performance and simplify the mechanical structure of the robotic dexterous hand.
- mechanisms /
- joints /
- virtual prototype /
- robot hand

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参考文献(1)

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