智能三指灵巧手结构设计及验证.pdfVIP

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智能三指灵巧手结构设计及验证

宋宇晓

（沈阳新松机器人自动化股份有限公司，沈阳110168）

摘要：

针对市场上灵巧手结构复杂体积大等弊端，设计了具有欠驱动的三指智能灵巧手，实现一个电动机控制2个关节

运动。可分别控制3根手指，能够适应异形物体抓取，机械自锁的结构可提高抓取可靠性。灵巧手内部集成多种传感器，可测

量指尖力矩和关节运行角度，通过软件算法实现掉落感知防脱落防碰撞和人机协作等功能。在硬件方面设计了驱控一体

板卡，大大缩小了灵巧手体积。经过两代样机研制，验证了智能三指灵巧手功能的可靠性。

关键词：

智能灵巧手；欠驱动；机械自锁；力矩传感器；霍尔传感器；驱控一体

中图分类号:TP241.2文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园22）09原园118原园5

StructuralDesignandVerificationofIntelligentThree-fingerDexterousHand

SONGYuxiao

(SIASUNRobotAutomationCo.,Ltd.,Shenyang110168,China)

Abstract:Aimingatthedisadvantagesofcomplexstructureandlargesizeofthedexteroushandonthemarket,an

intelligentthree-fingerdexteroushandwithunderactuationisdesigned,whichrealizesthemotionoftwojointscontrolled

byonemotor.Itcancontrol3fingersrespectively,whichcanadapttothegraspingofspecial-shapedobjects,andthe

mechanicalself-lockingstructurecanimprovethegraspingreliability.Avarietyofsensorsareintegratedinsidethe

dexteroushand,whichcanmeasurefingertiptorqueandjointrunningangle,andrealizefunctionssuchasdropperception,

anti-fall,anti-collision,andhuman-machinecollaborationthroughsoftwarealgorithms.Intermsofhardware,anintegrated

driveandcontrolboardisdesigned,whichgreatlyreducesthesizeofthede