SIA OpenIR  > 智能产线与系统研究室
基于套索传动的五指灵巧手设计与主从控制研究
Alternative TitleDesign and Master-slave Control of Dexterous Hand with Five Fingers Based on Tendon-Sheath Transmission
尹猛1,2,3; 徐志刚1,2; 赵志亮1,2,4; 韩伟1,2,4
Department智能产线与系统研究室
Source Publication中国机械工程
ISSN1004-132X
2020
Pages1-11
Contribution Rank1
Keyword套索传动 五指灵巧手 关节机构 工作空间 主从控制
Abstract

为了使灵巧手更加轻质化、拟人化,设计了一种由舵机经套索驱动的19关节拟人型灵巧手。首先,参照人手关节确定灵巧手的构型,通过套索传动实现了关节运动间解耦与驱动的后置,并分别对关节机构与驱动集成进行了设计。然后,建立灵巧手多指运动学模型并对其工作空间进行了分析;基于弯曲传感器与主从映射算法实现了抓取的主从跟踪控制。最后,搭建灵巧手样机并进行关节运动实验与抓取控制实验。实验结果表明,将套索传动应用于灵巧手具有可行性,基于主从控制可以实现灵巧手对多种物体的抓取。

Other Abstract

In order to make the dexterous hand more light and anthropomorphic, a 19 joints dexterous hand driven by the steering engine through tendon-sheath transmission is designed. Firstly, the configuration of the dexterous hand is determined by referring to the human hand joint, and the joint mechanism and driving integration are designed separately, which make the joint motion decoupling and postposition of the driver to be realized. Then, the multi-fingers kinematic model of dexterous hand is established and its workspace is analyzed. The tracking control of grasping is realized based on the flex sensor and master-slave mapping algorithm. Finally, a prototype of dexterous hand is built, joint motion experiment and grasping control experiment are carried out. The experimental results show that it is feasible to apply the tendon-sheath transmission to the dexterous hand. Based on the master-slave control, the dexterous hand can grasp a variety of objects.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27470
Collection智能产线与系统研究室
Corresponding Author尹猛
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学沈阳自动化研究所
4.东北大学机械工程与自动化学院
Recommended Citation
GB/T 7714
尹猛,徐志刚,赵志亮,等. 基于套索传动的五指灵巧手设计与主从控制研究[J]. 中国机械工程,2020:1-11.
APA 尹猛,徐志刚,赵志亮,&韩伟.(2020).基于套索传动的五指灵巧手设计与主从控制研究.中国机械工程,1-11.
MLA 尹猛,et al."基于套索传动的五指灵巧手设计与主从控制研究".中国机械工程 (2020):1-11.
Files in This Item:
File Name/Size DocType Version Access License
基于套索传动的五指灵巧手设计与主从控制研(1137KB)期刊论文出版稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[尹猛]'s Articles
[徐志刚]'s Articles
[赵志亮]'s Articles
Baidu academic
Similar articles in Baidu academic
[尹猛]'s Articles
[徐志刚]'s Articles
[赵志亮]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[尹猛]'s Articles
[徐志刚]'s Articles
[赵志亮]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于套索传动的五指灵巧手设计与主从控制研究.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.