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仿生机械手说明书.doc
目 录
摘 要···················································Ⅲ
ABSTRACT··············································Ⅳ
1前 言···················································1
1.1仿生机械学的简介·历史及研究动向································1
1.1.1仿生机械学的简介··············································1
1.1.2仿生机械学的历史··············································1
1.1.3仿生机械学的研究动向··········································2
1.2选题背景及意义··················································3
2．系统方案的确定········································7
2．1现有机械手种类·················································7
2.2机械手结构总体方案的确定·····································10
2.3机械手控制机构总体方案的确定···································11
3机械结构设计···········································13
3.1人手的结构·····················································13
3.2仿生机械手的机构设计············································13
3.2.1手指关节运动副的型式·········································13
3.2.2手指的自由度·················································14
3.2.3手指的数目···················································14
3.2.4手指的结构形式···············································16
3.2.5手指的材料···················································17
3.2.6手指具体结构设计·············································17
3.2.7手指关节设计·················································18
3.2.8手掌结构设计·················································25 3.3仿生机械手电机的选择···········································26
3.4仿生机械手传动方式的设计·······································27
3.4.1仿生机械手传动方式的选择·····································27
3.4.2仿生机械手具体传动结构·······································30
3.5仿生机械手驱动动方式的设计·····································33
3.6本章小结·······················································34
参考文献·················································35
致谢····················································37
需要图加企鹅519025124 摘 要
随着微电子技术、传感器技术、控制技术和机械制造工艺水平的飞速发展，机器人的应用领域逐步从汽车拓展到其它领域。在各种类型的机器人中，模拟人体手臂而构成的关节型机器人，具有结构紧凑、所占空间小、运动空间大等优点，是应用最为广泛的机器人之一。尤其由柔性关节组成的柔性仿生机器人在服务机器人及康复机器
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