文献类型：期刊文献

中文题名：欠驱动两指多指杆机器人手的操作过程与抓力分析

英文题名：The Operating Process and Grasping Analysis of the Underactuated Two-fingered Hand of Robot with Multi-phalanges

作者：叶军[1];张新华[1]

机构：[1]绍兴文理学院机电系

年份：2001

卷号：17

期号：3

起止页码：24

中文期刊名：机械设计与研究

外文期刊名：Machine Design and Research

收录：CSTPCD、、Scopus、CSCD2011_2012、CSCD

基金：浙江省自然科学基金资助项目 ( 5 0 0 0 30 )

语种：中文

中文关键词：欠驱动机器人手;两指多指杆手;操作过程;抓力分析

外文关键词：underactuated hand of robots;two fingered multi phalanges hand;operating process,dynamic simulation

中文摘要：欠驱动两指多指杆机器人手仅用一台驱动电机就能以直指或曲指方式履行各种工业操作任务。文中描述了欠驱动两指多指杆手的操作过程与手指的抓力分析 ,并对手指抓力作了动态仿真。与现有的欠驱动机器人手相比 ,这种多指杆机器人手的结构更为简单紧凑 ,且能减少控制的复杂性、重量和成本 。

外文摘要：In a lot of industrial application,we often require simple structure,dexterous operation,easy control,and higher adaptability of robot hands.The being developed underactuated two fingered multi phalanges hand with only one actuator of electromotor can perform various tasks of industrial operation in extending and bending finger manners.This paper described the operating process and grasping analysis of two fingered multi phalanges hand and dynamic simulation of finger grasping.The multi phalanges hand has simpler and more compact structure than current underactuated hands of robots.It can reduce the control complexity,weight and cost,and can realize the ability of catching different objects in multi functions.