拟人机器人手的设计与实现

与传统自由度过多但控制复杂、体积较大的灵巧手不同,设计了一种新型的机械手TH-1。介绍了该手的设计思路、抓取功率分析过程及微型驱动控制系统等。该手上的电动机、减速器、驱动与控制电路等完全嵌入手掌,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。试验结果表明,TH-1手适合用于拟人机器人上,以完成伸展、握拳和稳定抓取常见物体等动作。

DESIGN AND REALIZATION OF HUMANOID ROBOT HAND

Compared with the traditional dexterous hands, which have the great cubage, excessive DOFs and complicated controlling as well, a sort of new-patterned mechanical hand (TH-1 hand) is designed. And the introduction for the design thought, the analysis process of the grasping power and micro-driver-control system are given. TH-1 hand's motors, reducers and their driver circuits are embedded completely into its palm. This hand is designed as the human hand in many ways including its appearance and size which have many characteristics, such as light, few DOFs, easy to control, compact, strong adaptability. The experiments show that TH-1 hand is applicable to the humanoid robot. It can achieve stretching, making a fist and grasping an object steadily.