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假肢手指机构是一种典型的仿生机构,其设计要求是:(1)再现手指的基本功能;(2)运动姿态接近人指;(3)要求机构具有较高的传动效率.本文选择指端轨迹、指节的运动姿态和传动效率作为优化过程所追求的目标,并选择具有两个交叉封闭环的六杆机构作为实现设计要求的基本机构。优化结果获得了一组能较好地再现关节式手指基本功能的机构尺寸,利用所得到的机构可以实现握拳动作,并具有很好的拟人效果。
Prosthetic finger mechanism is a typical biomimetic mechanism, and its design requirements are: (1) to reproduce the basic functions of the finger; (2) to move the gesture close to the human finger; (3) to require the agency to have a higher transmission efficiency.In this paper, Trajectory, knuckle motion attitude and transmission efficiency as the goal of the optimization process, and choose six cross-enclosed ring six-bar mechanism as the basic mechanism to achieve design requirements. The optimization results obtained a set of mechanism sizes which can well reproduce the basic functions of the articulating finger, and the obtained mechanism can be used for making the fist movement and has a good anthropomorphic effect.