通过研究人手的生理结构特点,模仿人手结构,设计出仿人机器人手爪。整个手爪设计有拇指、食指、中指和小指,每个手指有三个关节。采用欠驱动连杆机构设计出结构紧凑的三关节手指机构以实现包络抓取和精确捏取。设计出高度集成的大功率小体积的驱动和传动机构并通过一个电机调整拇指机构的位置,以形成多种抓取模式。最后介绍了该手爪的控制以及抓取实验。 By studying the physiological structure of the human hand and imitating the structure of the human hand, a humanoid robot claw is designed. The entire claw design with thumb, index finger, middle finger and little finger, each finger has three joints. The under-actuated linkage mechanism is used to design a compact three-finger finger mechanism for envelope capture and pinch-in. A highly integrated high-power, low-volume drive and drive mechanism was designed and the position of the thumb mechanism was adjusted by a motor to create a variety of gripping modes. Finally, the claw control and grasping experiment are introduced.