| 引用本文: | 刘伊威,任 伟,高一夫.腱驱动假手手指运动及力分析[J].哈尔滨工业大学学报,2012,44(5):46.DOI:10.11918/j.issn.0367-6234.2012.05.009 |
| LIU Yi-wei,REN Wei,GAO Yi-Fu.Kinematics and dynamics of a tendon-driven prosthetic finger[J].Journal of Harbin Institute of Technology,2012,44(5):46.DOI:10.11918/j.issn.0367-6234.2012.05.009 |
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| 摘要: |
| 为优化多自由度假手的机械结构，降低其复杂性以及提高其可靠性，采用腱驱动方法实现假手单手
指的独立运动．腱驱动假手手指由驱动腱、钢丝轮、3个指节、3个关节及关节扭簧等构成，关节扭簧实现关节
的预紧和腱松弛后关节的回复运动．对弹簧刚度进行优化设计，实现腱驱动的手指各关节的顺序弯曲及手指
的大抓握．分析了手指抓取时各指节所受接触力与钢丝轮驱动力矩之间的关系．建立了手指的动力学模型，
得到手指的动力学方程．数值计算与仿真分析比较证明了理论计算的正确性，手指运动及抓握实验证明了该
种结构手指的可行性．腱驱动的假手手指具有零件少、结构简单、可靠性高等优点，为多自由度假手的研制提
供了有利条件 |
| 关键词: 假手 手指结构 腱驱动 欠驱动 手指动力学模型 |
| DOI：10.11918/j.issn.0367-6234.2012.05.009 |
| 分类号:TP24 |
| 基金项目:国家高技术研究发展计划资助项目（2008AA042203）；
中国博士后基金（201003442）；黑龙江省博士后基金
f LBH-209104) |
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| Kinematics and dynamics of a tendon-driven prosthetic finger |
|
LIU Yi-wei, REN Wei, GAO Yi-Fu
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State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150080 Harbin, China
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| Abstract: |
| A tendon-driven finger structure is applied to optimize the mechanism, reduce the complexity and
improve the reliability of prosthetic hand, which also realizes the independent movement for single finger. The
structure consists of a drive tendon, three knuckles, three joints, torsion springs, and so on. The joint torsion
spring is designed to realize the joint preload and the joint reversion after the tendon looseness. By optimizing
the spring stiffness, it is able to realize the sequential curling and the large range grip. Based on these analy-
ses, the relation between contact force on the knuckles and the drive torque of the wire wheel, the finger dy-
namic model and dynamic equations are established. The numerical calculation, simulation and experiments
are done to validate the correctness of the theoretical analysis and the feasibility of the finger structure. By the
advantages of fewer parts, simpler structure and higher reliability, the tendon-driven finger structure provides
favorable conditions for development of multi-degree prosthetic hand |
| Key words: prosthetic hand finger structure tendon-driven underactuated finger dynamic model |
