A五指灵巧手总装图
五指灵巧手结构设计
摘要
五指灵巧手是一种仿人手结构设计并通过设计与控制系统使灵巧手具备设计要求的运动范围和按需求完成相应运动动作的机械手。在制造行业当中，可以看到很多机械手在代替人们去完成各种简单的操作和任务，机械手不仅在制造领域中展现了它巨大的潜力，并且在多个行业中都有涉及。
但随着科技发展与生活需要，人们需要灵活度更高能够做出更复杂的运动动作的机械手来应用于各种各样的行业中，可是在目前来讲机械手还是没办法完全取代人类工作，考虑到生产成本加工成本，还有劳动力的消耗，那么就需要设计一款模拟人手的机械手，来达到人手工作要求的灵活度，去代替他们作业。
本篇通过仿人手结构设计，在结构简单传动有效的前提下，构建了一个可以简单抓握物品的五指灵巧手，给出了该五指灵巧手的整体结构和关键传动机构的设计，并通过仿真验证了本文设计能否达到设计要求。
关键词：五指；灵巧手；结构；设计
Abstract
Five-finger dexterous hand is a kind of manipulator which imitates the structure design of human hand and enables the dexterous hand to have the range of motion required by the design and complete the corresponding motion according to the requirements through the design and control system. In the manufacturing industry, we can see that many manipulators are replacing people to complete various simple operations and tasks. Manipulators not only show great potential in the manufacturing field, but also are involved in many industries.
However, with the development of science and technology and the needs of life, people need more flexible manipulators capable of making more complex movements to be applied in various industries. However, at present, manipulators still cannot completely replace human work. Considering the production cost, processing cost and labor consumption, then it is necessary to design a manipulator simulating human hands to achieve the flexibility required by human hands to replace their work.
In this paper, a five-finger dexterous hand which can grasp objects simply is constructed by imitating the structure design of human hands and under the premise of simple structure and effective transmission. The overall structure of the five-finger dexterous hand and the design of key transmission mechanism are given. The simulation verifies whether the design in this paper can meet the design requirements.
Keywords: Five fingers; Dexterous hand; Structure; Design
目录
1引论1
1.1研究的背景及其意义1
1.2国内外研究现状及发展趋势1
1.3技术路线2
1.4研究内容3
2五指灵巧手手指机构的传动方案设计5
2.1手指关节的传动方案设计5
2.2手指关节的设计与制作5
2.3手指关节间连接机构的设计7
3关键结构的选型与校核10
3.1电机选用10
3.2控制系统的选用10
3.3五指灵巧手坐标系的建立10
3.4五指灵巧手正运动学解11
3.5五指灵巧手动力学模型12
4五指灵巧手运动抓持仿真14
4.1仿真条件设置与推导14
4.2手指各指节的运动耦合关系分析结果15
5结语17
参考文献18
致谢19
中指节
设计所包含文件
关节轴
字数
目录
摘要
固定底座
远指节
灵巧手中指
近指节
