文献类型：期刊文献

中文题名：一种欠腱驱动的四指机械手

英文题名：A Kind of Four-Fingered Mechanical Hand with Underactuated Tendon-Driving

作者：孙皓旻[1];叶军[1];查达朝[1];金少华[1];周文[1]

机构：[1]绍兴文理学院机电系

年份：2009

卷号：8

期号：29

起止页码：40

中文期刊名：中国西部科技

外文期刊名：Science and Technology of West China

基金：浙江省大学生科研创新团队资助项目

语种：中文

中文关键词：欠腱驱动;四指机械手;多指灵巧手

外文关键词：Underactuated tendon-driving;Four-fingered mechanical hand;Multi-fingered dexterous hand

中文摘要：文章提出一种欠腱驱动的四指机械手。每个多指节手指仅用一根腱驱动手指弯曲运动,与现有多指灵巧手和欠驱动多指杆机械手相比,这种欠腱驱动的四指机械手具有结构简单、紧凑,且能减少控制的复杂性、重量和成本,并能实现多功能地抓取不同物体的能力。

外文摘要：A kind of four-fingered dexterous hand with underactuated tendon-driving is presented in this paper.Each multi-phalanges finger with only one actuator of tendon can drive finger movement in bending manners.The four-fingered mechanical hand has the simplicity and compact of its structure,can reduce the control complexity,weight and cost by comparison with existing multi-fingered dexterous hands and underactuated driving mechanical hands with multi- fingered links.Also it can realize the ability of catching different objects with multi-functions.