文献类型：期刊文献

中文题名：一种丝杆螺母机构型机械手的设计

英文题名：Design of a Mechanical Gripper Based on Screw-nut Mechanism

作者：张彪[1];叶军[1];鲁翔[1];宣冬冬[1]

机构：[1]绍兴文理学院机电系

年份：2010

卷号：9

期号：15

起止页码：31

中文期刊名：中国西部科技

外文期刊名：Science and Technology of West China

基金：绍兴文理学院大学生科研创新团队资助项目

语种：中文

中文关键词：机械手;丝杆螺母机构;运动分析

外文关键词：Mechanical gripper;Screw-nut mechanism;Kinematic analysis

中文摘要：文章提出一种丝杆螺母机构型机械手,它具有结构紧凑,操作灵巧,控制容易的特点。多指手仅用一个电机驱使手指的开闭操作。文中描述了机械手的结构设计与手指的运动分析与力分析,与现有的多指灵巧手和欠驱动多指杆机器人手相比,这种机械手的结构更为紧凑,且能减少控制的复杂性。

外文摘要：A mechanical gripper based on screw-nut mechanism is presented in this paper.It has the characteristics of compact structure,dexterous operation,and easy control.Multiple fingers with only one electrical motor can perform open and closed operation.This paper described the structure design of mechanical gripper,kinematic analysis,and force analysis of the fingers.The mechanical gripper has more compact structure than current multi-fingered dexterous hands and underactuated hands of robot with multi-phalanges.It can reduce the control complexity.