一种双向平夹感知自适应机器人手指设计

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英文篇名：Design of a Novel Robotic Finger with Sensing Parallel and Self-adaptive Grasp in Two Directions 作者：夏海超 ; 白国振 ; 王潇榕 ; 周媛 英文作者：Xia Haichao;Bai Guozhen;Wang Xiaorong;Zhou Yuan;School of Mechanical Engineering, University of Shanghai for Science & Technology; 关键词：灵巧机器人手指 ; 双方向 ; 感知 ; 自适应 英文关键词：dexterous robotic finger;;two directions;;sensing;;self-adaptive 中文刊名：SDLG 英文刊名：Agricultural Equipment & Vehicle Engineering 机构：上海理工大学机械工程学院; 出版日期：2019-01-10 出版单位：农业装备与车辆工程 年：2019 期：v.57;No.330 基金：上海市自然科学基金(13ZR1458500) 语种：中文; 页：SDLG201901005 页数：5 CN：01 ISSN：37-1433/TH 分类号：17-21

摘要

为更好地应对工作环境的复杂性,设计了一种双向平夹感知自适应机器人手指装置,称为PPC手指。提出双向平夹感知自适应功能,对手指机构原理和组成、抓取动作过程和抓取力进行分析,进行了样机的虚拟设计和抓取模式分析。该PPC手指综合了传统灵巧手和欠驱动手的优点,独创性地实现了双方向平行夹持和感知自适应的抓取效果。
        A novel dexterous robotic finger with sensing parallel and self-adaptive grasp in two directions, called PPC finger, is designed to better cope with the complex working environments. Sensing parallel and self-adaptive function in two directions is proposed. The principle and compositions of finger mechanism, action processes of grasping and grasping forces are analyzed. The virtual prototype of finger is designed, and its grasping modes are analyzed. The PPC finger combines the advantages of common dexterous finger and underactuated finger, which can creatively achieve sensing parallel and self-adaptive grasp in both directions.

引文

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