三自由度自适应抓持仿人手的设计研究

设计完成了用于仿人形机器人上的具有自动适应被抓持物体几何特征的三自由度仿人手。论文首先设计了具有自适应抓持能力的手指机构，进一步对该手指机构各关节之间的运动耦合关系进行了分析研究，并通过虚拟样机技术验证了所设计的仿人手机构传动系统的正确性和自适应抓持的可行性，最后提出了衡量仿人手抓持能力的指标，分析了所设计的仿人手的抓持能力。所有结果都表明手指机构是合理实用的，所设计完成的仿人手达到了设计要求。

Designing research of 3DOF humanoid hand with self-adaptation grasping

The 3DOF humanoid hand used in humanoid figure robot, which has the ability of self-adaptation to the geometric features of object being grasped was designed. On the basis of accomplishing the design of finger mechanism with the ability of self-adaptation grasping, the movement coupling relations among every joints of this finger mechanism were analyzed. Further more, the correctness of transmission system of the designed human hand mechanism and the feasibility of self-adaptation grasping were verified through virtual prototyping technique. Finally, the targets for measuring the grasping ability of humanoid hand were put forward and the grasping ability of the designed humanoid hand was analyzed. All results indicate that the finger mechanism is reasonable and practical; the humanoid hand being designed and accomplished has achieved the requests of design.