中国机械工程 ›› 2021, Vol. 32 ›› Issue (08): 951-959.DOI: 10.3969/j.issn.1004-132X.2021.08.009

• 智能制造 • 上一篇    下一篇

基于套索传动的五指灵巧手设计与主从控制

尹猛1,2,3;徐志刚1,2;赵志亮1,2,4;韩伟1,2,4   

  1. 1.中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳,110016
    2.中国科学院机器人与智能制造创新研究院,沈阳,110016
    3.中国科学院大学沈阳自动化研究所,沈阳,110016
    4.东北大学机械工程与自动化学院,沈阳,110819
  • 出版日期:2021-04-25 发布日期:2021-05-10
  • 作者简介:尹猛,男,1992年生,博士研究生。研究方向为套索传动理论与机器人应用。E-mail: yinmenglz@163.com。

Design and Master-Slave Control of Dexterous Hands with Five Fingers Based on Tendon-sheath Transmission#br#

YIN Meng1,2,3;XU Zhigang1,2;ZHAO Zhiliang1,2,4;HAN Wei1,2,4   

  1. 1. State Key Laboratory of Robotics, Shenyang Institute of Automation,Chinese Academy of Sciences, Shenyang, 110016
    2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016
    3. Shenyang Institute of Automation, University of Chinese Academy of Sciences, Shenyang, 110016
    4. School of Mechanical Engineering and Automation, Northeastern University, Shenyang,110819
  • Online:2021-04-25 Published:2021-05-10

摘要: 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关节灵巧手。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解耦与驱动后置,并分别对关节机构与驱动集成进行了设计。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。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。

关键词: 套索传动, 五指灵巧手, 关节机构, 工作空间, 主从控制

Abstract: In order to make the dexterous hand more light and anthropomorphic, a 19 joints dexterous hand driven by steering engine through tendon-sheath transmission was designed. Firstly, the configuration of the dexterous hands was determined by referring to the human hand joints. Joint decoupling and drive postposition were realized using tendon-sheath transmission. Joint mechanisms and driving integration were designed separately. Then, a multi-fingers kinematic model of dexterous hands was established and the workspace was analyzed. The master-slave tracking control of grasping was realized based on the sensors and master-slave mapping algorithm. Finally, a prototype of dexterous hand was built, and the joint motion experiments and grasping control experiments were carried out. Experimental results show the feasibility of applying the tendon-sheath transmission to dexterous hands. The dexterous hands may grasp a variety of objects based on master-slave control.

Key words: tendon-sheath transmission, dexterous hand with five fingers, joint mechanism, working space, master-slave control

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