基于微电机驱动的仿人手结构设计与研究
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摘要
为实现仿人手的集成化、智能化、轻量化,采用微型电机与蜗轮盘结合的绳驱方式,通过3D打印制作了与人手尺寸1∶1,总质量为300 g的仿人手样机。采用蜗轮与绳驱组合的方式实现了仿人手在小体积下具有较大的输出力和较高的安全性。通过复位弹力绳与驱动钢丝绳在蜗轮盘上逆向缠绕方式,降低了驱动过程中阻力,提高了手指有效输出力。然后,对仿人手的自适应抓取进行了研究,结果表明,通过采用弯曲传感器和压力传感器联合控制的方式,可以有效实现对不同大小物体的尺寸预估以及期望力的动态调节,并实现稳定抓取。
In order to realize the integration,intelligent,and lightweight of the humanoid hand,by using the micro motor with the rope combination of turbine disk drive way,the model of finger is made by 3D printer and the hand size is 1: 1,total weight is 300 g. Worm gear combined with rope drive mode is adopted to realize the humanoid hand has larger output force and high safety under the small volume. By reverse winding of elastic rope and drive rope with worm gear plate,the resistance is reduced in the process of driving,the effective output force of finger is improved. Then,the adaptive grasping of humanoid hand is studied,and the results show that,the humanoid hand can effectively realize the size of the object and output the expected force,and realize stabilize grapping by using the joint control method of bending sensor and pressure sensor.
In order to realize the integration,intelligent,and lightweight of the humanoid hand,by using the micro motor with the rope combination of turbine disk drive way,the model of finger is made by 3D printer and the hand size is 1: 1,total weight is 300 g. Worm gear combined with rope drive mode is adopted to realize the humanoid hand has larger output force and high safety under the small volume. By reverse winding of elastic rope and drive rope with worm gear plate,the resistance is reduced in the process of driving,the effective output force of finger is improved. Then,the adaptive grasping of humanoid hand is studied,and the results show that,the humanoid hand can effectively realize the size of the object and output the expected force,and realize stabilize grapping by using the joint control method of bending sensor and pressure sensor.
引文
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[2] SURAEZ R,GROSCH P. Dexterous robotic hand MA-I,software and hardware architecture[C]. Intelligent Manipulation&Grasp-ing Int. Conference,2004:91-96.
[3] LOTTI F,TIEZZI P,VASSURA G,et al. Development of UB hand3:early results[C]. Proceedings of the 2005 IEEE International Conference on Robotics and Automation(ICRA 2005). New York:IEEE,c2005:4488-4493.
[4] FUKAYA N,TOYAMA S,ASFOUR T,et al. Design of the Tua T/Karlsruhe Humanoid Hand[C]∥Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems,October 31-November 5,2000. New York:IEEE,c2000:1754-1759.
[5] BRIDGWATER L B,IHRKE C A,DIFTLER M A,et al. The robonaut 2 hand-designed to do work with tools[C]. Proceedings of the2012 IEEE International Conference on Robotics and Automation.New York:IEEE,c2012:3425-3430.
[6] KOCHAN A. Shadow delivers first hand[J]. Industrial Robot:An International Journal,2005,32(1):15-16.
[7]郝丽娜,郭少飞,陈洋. SMA驱动的模块化仿人手指设计与研究[J].东北大学学报(自然科学版),2017,38(8):1137-1141.
[8]郝丽娜,郭少飞,陈洋.基于SMA丝驱动的仿人手指传动结构设计与研究[J].机械传动,2017,41(2):104-107.
[9] KIM H I,HAN M W,SONG S H,et al. Soft morphing hand driven by SMA tendon wire[J]. Composites Part B:Engineering,2016,105:138-148.
[10] SIMONE F,YORK A,SEELECKE S. Design and fabrication of a three-finger prosthetic hand using SMA muscle wires[C]∥Bioinspiration,Biomimetics,and Bioreplication 2015,San Diego:International Society for Optics and Photonics,2015:9429-9437.
[11]全国人类工效学标准化技术委员会.中国成年人人体尺寸:GB10000-88[S].北京:中国标准出版社,1989:14-15.