文献类型：期刊文献

中文题名：欠驱动两指多指杆机器人手及其运动学分析

英文题名：The underactuated two-fingered multi-phalanges hand of robot and its kinematics analysis

作者：叶军[1]

机构：[1]绍兴文理学院机电系

年份：2001

卷号：18

期号：11

起止页码：14

中文期刊名：机械设计

外文期刊名：Machine Design

收录：CSTPCD、、北大核心2000、CSCD2011_2012、北大核心、CSCD

基金：浙江省自然科学基金资助项目 (50 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;运动学分析

外文关键词：Underactuated hand of robots, Two-fingered multi-phalanges hand, Kinematics analysis

中文摘要：在许多工业应用中 ,常要求机器人手结构简单、操作灵巧、控制容易 ,且具有较高的操作适应性。研制的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。在此描述了欠驱动两指多指杆手的结构、工作原理与手指运动学分析 ,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 ,并能实现多功能地抓取不同物体的能力。

外文摘要：In many industrial applications, it is oftenly required a simple constructioned robot hand with skilful operation and easy control yet possesses comparatively high operational suitability. The hand of underactuated two-fingered multi-phalanges robot being developed could perform various tasks of industrial operation in extending and bending finger manners by using only one driving motor. The structure, working principle of underactuated two-fingered multi-phalanges hand and analysis of finger kinematics were described in this paper. Compared with those existing hands of underactuated robot shows the advantages of a more simple and compact structure in this kind of multi-phalanges robot hand. It could reduce the weight, cost and complexity of control and could yet realize the ability of catching different objects in multi-functions.