气动柔性五指机械手的运动学及抓持能力-机器人.PDFVIP

第36 卷第2 期 机器人 ROBOT Vol.36, No.2 2014 年3 月 Mar., 2014 DOI ：10.3724/SP.J.1218.2014.00171 气动柔性五指机械手的运动学及抓持能力 赵云伟，耿德旭，刘晓敏，张金涛 （北华大学工程训练中心，吉林吉林 132021） 摘 要：根据人手仿生学结构，采用2 种自主开发的柔性关节，研发了气动柔性仿人机械手．该机械手有5 根手指，每根手指由关节本体和驱动装置复合一体的3 个柔性关节组成．首先采用参数化齐次坐标变换矩阵，建 立了机械手运动学方程．而且分析了机械手的工作空间，并对机械手摆出复杂手势和取物进行了仿真．相应的实 物样机实验通过机械手气动平台完成，验证了该机械手的灵活性及其功能．测试了柔性手指在不同通气方式下手 指各关节的夹持力．该机械手具有较高灵活性，能够完成抓、握、捏、夹和拧等13 种取物模式，对物形变化具有 较强的适应性． 关键词：气动复合弹性体；人工肌肉；柔性关节；仿人机械手 中图分类号：TH138.5 文献标识码：A 文章编号：1002-0446(2014)-02-0171-08 Kinematics and Its Grasp Ability of Pneumatic Flexible Five-fingered Robot Hand ZHAO Yunwei ，GENG Dexu ，LIU Xiaomin ，ZHANG Jintao (Engineering Training Center, Beihua University, Jilin 132021, China) Abstract: According to anatomical structures of human hand, a pneumatic flexible humanoid robot-hand is developed using two types of flexible joints designed by ourselves. The robot hand has five fingers and each finger is composed of three flexible joints in which the body of joint and the driving device are combined into one. The kinematics equations of the robot hand are established employing parameterized homogeneous coordinate transformation matrix. Furthermore, the workspace of the robot hand is analyzed, and on that basis, simulation are performed on the robot hand posing complex postures and grasping objects with different shapes. Subsequently, relative prototype experiments are accomplished on the pneumatic control platform, to verify the function and the dexterity of the robot hand. Also, the clamping forces of all joints on the flexible finger with differen