仿人柔性机械手说明书概要.doc

仿人柔性机械手设计 摘要 Design of Humanoid?Flexible?Manipulator? Abstract The flexible?manipulator is the hot issue that the robot realm discusses in recent years and Many research institutions have conducted research on the robot. This essay discussed the sport system of flexible?manipulator, include mechanism, transmission and drive, this topic mainly studied the contents as follows: Chapter 1 Outline. Introduce the subject of the source of the topic at home and abroad as well as the work which will be accomplished. Chapter 2 Overall program design. Introduce the preliminary design of the dexterous manipulator of the overall program, design steps, the calculation of the main parameters, the key structural design, mechanical transmission, and electric-driven design. Chapter 3 The plan of the two design improvement. Discusses the structre and transmission design Chapter 4 Analysis and design of key structures (parts). In order to improve the robots movement speed and control accuracy, the robot drive mechanism has a compact structure, small size, light weight, seamless and fast response. Chapter 5 Summarize and improve. This chapter is a summary of the full text, and further pointed out the problems in this research, and Dexterous Manipulator direction of development on the basis of summing up. Keywords: Flexible?manipulator; Working principle; Mechanical design; Freedom degree 目录 1. 引言 1 1.1 课题来源 1 1.2 国内外现状 2 1.3 关键技术 4 1.3.1 小而强的驱动 5 1.3.2 丰富的感觉 5 1.3.3 聪明的大脑 6 2. 灵巧机械手方案设计 7 2.1 灵巧手设计的基本原则 7 2.1.1 手型的选择 7 2.1.2 自由度的选择 7 2.1.3 驱动器的选择 7 2.2 总体方案的比较 8 3. 方案二的改进设计综述 10 3.1 手指机构的传动方案设计 10 3.2 FRJ-11灵巧手的整体结构设计 11 3.2.1 关节的结构设计 11 3.2.2 手指关节间连接机构的设计 13 3.2.3 手掌的结构设计与制作 13 4. 关键结构（零部件）设计与分析 15 4.1 手指机构设计 15 4.1.1 拇指机构运动学分析 18 4.1.2 4关节手指机构（食指，中指）运动学分析 19 4.2 传动与结构设计 21 4.3 驱动设计 24 5. 结论与展望 25 5.1 结论 25 5.2 未来展望 25 结语 27 参考文献 28 致谢 29  1.引言 机器人多指灵巧手是一种仿人手的装置,它具有力觉、触觉、视觉和温度感知能力,可以代替人在危险、恶劣的环境下完成普通装置所不能完成的复杂操作任务。多指手的每个手指都相当于一个独立的、具有多自由度的微型机器人,这样通过协调各个手