仿人手五指机械手发展现状.pdf

Design 设计, 2018, 3(2), 32-38 Published Online June 2018 in Hans. /journal/design /10.12677/design.2018.32006 Review of Humanoid Hand Five-Finger Manipulator Zongyuan Qiao, Yuesong Li, Huaiyong Zhao School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang Henan th th th Received: May 20 , 2018; accepted: Jun. 4 , 2018; published: Jun. 11 , 2018 Abstract The humanoid five-finger manipulator has broad applications in the direction of prosthetic limbs, remote operation and fine micro operation. In order to provide the basis and reference for the de- sign of the humanoid five fingers manipulator and design an appropriate humanoid five fingers manipulator, according to the different driving modes, this paper introduces the working prin- ciple and typical representative of a variety of five-finger manipulator, such as rope drive, con- necting rod drive, pneumatic drive and joint motor drive. Finally, the advantages and disadvan- tages of all kinds of humanoid five fingers manipulator are analyzed, and their applications direc- tions are given respectively. Keywords Bionics, Robot, Five-Finger Manipulator, Degree of Freedom, Pneumatic Muscle 仿人手五指机械手的发展现状 乔宗原，李跃松，赵怀勇 河南科技大学，机电工程学院，河南 洛阳 收稿日期：2018年5月20 日；录用日期：2018年6月4 日；发布日期：2018年6月11 日 摘 要 仿人手五指机械手在残疾人假肢、远程手术操作、精细微操作等方向上有着广泛的应用前景。为仿人手 五指机械手的设计提供依据和参考，设计出合适的仿人手五指机械手，本文按驱动方式的不同，分别介 绍了绳索驱动型、连杆驱动型、气压驱动型和关节电机驱动型等种类的五指机械手的工作原理和典型代 文章引用: 乔宗原, 李跃松, 赵怀勇. 仿人手五指机械手的发展现状[J]. 设计, 2018, 3(2): 32-38. DOI: 10.12677/design.2018.32006 乔宗原 等 表。最后，分析各种仿人手五指机械手的优缺