手指关节可独立控制的欠驱动灵巧手

doi:10.3901/JME.2020.03.047

机械工程学报 ›› 2020, Vol. 56 ›› Issue (3): 47-55.doi: 10.3901/JME.2020.03.047

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手指关节可独立控制的欠驱动灵巧手

刘今越^1,2, 赵睿^1,2,3, 贾晓辉^1,2, 郭士杰^1,2, 武晓峰³, 顾建军³

1. 河北工业大学机械工程学院天津 300130;
2. 河北工业大学河北省机器人感知与人机融合重点实验室天津 300130;
3. 上海航天控制技术研究所上海 201109

收稿日期:2019-05-30 修回日期:2019-09-25 出版日期:2020-02-05 发布日期:2020-04-09
通讯作者: 贾晓辉(通信作者),女,1976年出生,博士,讲师。主要研究方向为力触觉感知、柔性精密定位系统设计。E-mail:jia_dragon@163.com
作者简介:刘今越,男,1977年出生,博士,教授,硕士研究生导师。主要研究方向为智能机器人、智能检测与控制。E-mail:ljy@hebut.edu.cn;赵睿,男,1993年出生,硕士研究生。主要研究方向为机器人技术及应用。E-mail:zr199366@163.com
基金资助:
国家重点研发计划（2017YFB1301002）、河北省自然科学基金（E2017202270）和河北省教育厅重点项目（ZD2018246）资助项目。

Underactuated Dexterous Hand with Independent Control of Finger Joint

LIU Jinyue^1,2, ZHAO Rui^1,2,3, JIA Xiaohui^1,2, GUO Shijie^1,2, WU Xiaofeng³, GU Jianjun³

1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130;
2. Key Laboratory of Robotic Perception and Human-Machine Integration in Hebei Province, Hebei University of Technology, Tianjin 300130;
3. Shanghai Institute of Aerospace Control Technology, Shanghai 201109

Received:2019-05-30 Revised:2019-09-25 Online:2020-02-05 Published:2020-04-09

摘要/Abstract

摘要： 为了实现对物体的精准抓取，针对欠驱动灵巧手手指关节转动不可控问题提出一种新颖的关节可锁紧的单腱欠驱动灵巧手的设计方案，完成了灵巧手关节锁紧机构和指间耦合机构的结构设计，并运用Matlab对灵巧手手指工作空间进行仿真。对关节锁紧机构和指间耦合机构动作起到关键作用的耦合弹簧和复位弹簧进行了设计，对影响关节驱动力矩的参数优化分析，得到优化后的手指传动机构和腱绳张紧机构。通过灵巧手样机对不同形状、大小物体的抓握试验，证明本欠驱动灵巧手可实现手指关节锁紧的动作，具有良好的包络抓握能力和较强的精确抓取能力。

关键词: 欠驱动, 精确抓取, 关节锁紧, 灵巧手, 优化设计

Abstract: In order to achieve accurate grasping of objects, a novel joint-lockable single-turn under-actuated dexterous hand was designed for the uncontrollable problem of under-actuated dexterous hand joint movement. The structural designs of the joint locking mechanism and the inter-finger coupling mechanism were completed, and the working space of the dexterous finger were analyzed with Matlab. The coupling spring and the return spring, which play a key role in the joint locking mechanism and the inter-finger coupling mechanism, were designed to optimize the parameters affecting the joint driving torque, and the optimized finger transmission mechanism and the reel tensioning mechanism are obtained. The trials to grip different shapes and sizes objects by the dexterous hand prototype were carried out to validate the ablilities of locking the finger joints, the envelope grasping and the precision grasping.

Key words: underactuation, precise grasp, joint locking, dexterous hand, optimal design

中图分类号:

TP23

刘今越, 赵睿, 贾晓辉, 郭士杰, 武晓峰, 顾建军. 手指关节可独立控制的欠驱动灵巧手[J]. 机械工程学报, 2020, 56(3): 47-55.

LIU Jinyue, ZHAO Rui, JIA Xiaohui, GUO Shijie, WU Xiaofeng, GU Jianjun. Underactuated Dexterous Hand with Independent Control of Finger Joint[J]. Journal of Mechanical Engineering, 2020, 56(3): 47-55.

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手指关节可独立控制的欠驱动灵巧手

Underactuated Dexterous Hand with Independent Control of Finger Joint

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