Design of Dexterous Arm-Hand for Human-Assisted Manipulation
Design of Dexterous Arm-Hand for Human-Assisted Manipulation
复制标题
人辅助操作灵巧手的设计
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
J. Li
中科院分区：
文献类型：
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作者：
L. Wang;M. Xie;Z. Zhong;H. J. Yang;J. Li
臂-手子系统作为仿人机器人的机械手和末端执行器，具有重要的应用价值。一个强大的手臂-手系统可以执行与人类一样多的任务。然而，由于空间和重量的限制，类人机器人通常配备简单结构的上肢，特别是手。本文提出了一种多自由度灵巧臂-手模块，该模块结构轻巧紧凑，各关节均采用增量式编码器和绝对式编码器，并采用力/力矩传感器反馈力信息。此外，臂手模块采用分布式控制系统的关节执行器，这是紧凑，易于安装在内部。
Arm-hand subsystem, as the manipulator and end-effecter of a humanoid robot, is important from application point of view since humanoid robot is expected to help people in the future. A powerful arm-hand system can perform as many tasks as human beings do. However, owe to limited space and weight, humanoid robots were usually equipped with simple-structured upper limbs, especially for hand. In this paper, a multi-DOF and dexterous arm-hand module is presented, which owns lightweight and compact structure with incremental encoder, absolute encoder in each joint as well as force/torque sensor to feedback the force information. Moreover, the arm-hand module adopts distributed control system for joint actuators, which is compact and easy to be installed inside.