五指仿人机器人灵巧手DLR_HITHand_.pdf

第 45 卷第 11 期 2009 年 11 月 机 械 工 程 学 报 JOURNAL OF MECHANICAL ENGINEERING Vol.45 No.11 Nov. 2009 DOI：10.3901/JME.2009.11.010 五指仿人机器人灵巧手 DLR/HIT Hand II* 刘伊威 金明河 樊绍巍 兰 天 陈兆芃 (哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150001) 摘要：基于机电一体化设计思想和最新的驱动技术，研制 DLR/HIT II 仿人灵巧手。该灵巧手由 5 个相同结构的模块化手指 和 1 个独立的手掌构成，每个手指有 4 个关节、3 自由度，所有的驱动器和电路板均集成在手指或手掌内。采用新型的体积 小输出力矩大的盘式无刷直流驱动电动机、质量轻的谐波减速器、齿形皮带等的驱动传动方案，使手指的体积和质量得到显 著减小；采用钢丝耦合传动方案，实现手指末端两个关节的 1:1 耦合运动；手指具有位置、力/力矩、温度等多种感知功能。 层次化的灵巧手硬件结构由手指电气系统、手掌电气系统和 PCI 总线控制卡等组成，灵巧手具有点对点串行通信、CAN 以 及网络等多种通信接口。在灵巧手的外观设计中，将外观设计与灵巧手的本体设计融为一体，实现灵巧手与人手相近的体积 和外观。5 指灵巧手的质量为 1.5 kg，手指的指尖输出力 10 N。 关键词：DLR/HIT 灵巧手 数字信号处理器 现场可编程门阵列 模块化 中图分类号：TG156 Five-finger Dextrous Robot Hand DLR/HIT Hand II LIU Yiwei JIN Minghe FAN Shaowei LAN Tian CHEN Zhaopeng (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001) Abstract：Based on the design idea of mechatronics and the latest driving technique, the DLR/HIT dexterous robot hand II is developed. The hand has five identical modular fingers and an independent palm. Each finger has four joints with three DOFs. In order to decrease the volume and mass of a finger, the new disc brushless DC motor with small size and large output torque, and the transmission system with timing pulleys and tiny harmonic drive are adopted. By using the steel coupling mechanism, the phalanx distal’s transmission ratio is exact 1:1. At the same time, the multisensory dexterous hand integrates position, force/torque, temperature sensors and so on. The hierarchical hardware structure of the hand consists of finger electric units, the palm electric unit and PCI board. The hand has multiple communication interfaces for point-to-point serial communication, CAN and network. Instead of extra cover, the packing mechanism of the hand is implemented directly in the finger body and palm to make the hand smaller and more humanlike. The whole mass of the hand is about 1.5 kg and the f