Design and experimental evaluation of a new modular underactuated multi-fingered robot hand
Design and experimental evaluation of a new modular underactuated multi-fingered robot hand
复制标题
新型模块化欠驱动多指机械手的设计与实验评估
DOI：
10.1177/0954406220916494
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发表时间：
2020-04-08
影响因子：
2
通讯作者：
Li, Weihua
中科院分区：
文献类型：
--
作者：
Tang, Shufeng;Yu, Yue;Li, Weihua
本文提出了一种模块化欠驱动多指机器人手。机械手可根据工作需要自由配置不同数量和配置的模块化手指。驱动运动是通过螺杆和连杆的刚性结构来实现的。在机器人手的手掌上设计了手指连接机构，以满足模块化手指的安装、驱动、旋转和传感器连接的需求。指尖采用中空橡胶材质，增强抓握稳定性。详细描述了机器人手的设计以及机器人运动学和抓取过程的分析。最后开发了样机，并进行了抓取测试。实验结果表明，所提出的模块化机械手结构合理，使得模块化机械手的适应性和灵活性能够满足实际中各种抓取方式的要求。
In this paper, a modular underactuated multi-fingered robot hand is proposed. The robot hand can be freely configured with different number and configuration of modular fingers according to the work needs. Driving motion is achieved by the rigid structure of the screw and the connecting rod. A finger-connecting mechanism is designed on the palm of the robot hand to meet the needs of modular finger’s installation, drive, rotation, and sensor connections. The fingertips are made of hollow rubber to enhance the stability of grasping. Details about the design of the robot hand and analysis of the robot kinematics and grasping process are described. Last, a prototype is developed, and a grab test is carried out. Experimental results demonstrate that the structure of proposed modular robot hand is reasonable, which enables the adaptability and flexibility of the modular robot hand to meet the requirements of various grasping modes in practice.