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由于传统的灵巧手自由度过多,控制复杂,驱动和控制系统体积过大,因而无法用于拟人机器人上。该文设计了变抓取力的欠驱动拟人机器人手TH-1。其食指采用了新颖的变抓取力手指机构,可实现稳定抓取。其拇指采用了新型的欠驱动手指机构,可以用较少驱动器获得较多的自由度。TH-1手的电机、驱动与控制系统等完全嵌入手掌,在外观与尺寸上均与人手相似,具有质量小、自由度少、控制简单、结构紧凑、适应性强等特点。实验结果表明:TH-1手可成功安装于TH-1拟人机器人手臂,可完成常见伸展、握拳和以适当的力稳定抓取不同尺寸物体等拟人动作。该文研究的变抓取力机构和欠驱动机构也可应用于其他传动类型的手上。
Due to the excessive dexterity of traditional dexterity, complexity of control, oversized drive and control systems, they can not be used on humanoid robots. This paper designed a variable grasping underactuated humanoid robot hand TH-1. Its index finger uses a novel grip change finger mechanism, can achieve a stable grasp. Its thumb uses a new under-actuated finger mechanism that allows for more freedom with fewer drives. TH-1 hand motor, drive and control system fully embedded in the palm of the hand, the appearance and size are similar to the manpower, with small quality, less freedom, simple control, compact structure, adaptability and so on. The experimental results show that the TH-1 hand can be successfully installed on the TH-1 humanoid robot arm to perform the common action of stretching, fist-making and stable grasping of objects of different sizes with appropriate force. The variable grasping force mechanism and underactuated mechanism studied in this paper can also be applied to other types of hands.