摘要
运用机电一体化设计思想,设计了新一代灵巧手手指,具有3个自由度,由3个体积小、出力大的无刷直流电机驱动,机械传动系统采用刚性的减速器、齿轮及连杆传动,使手指具有很好的刚度.该手指具有丰富的感觉功能,包括位置感觉、力/力矩感觉以及温度感觉等.该手指集机械本体、驱动、传感器及电路为一体,最大限度地实现了灵巧手手指的集成化、模块化.
With the idea of mechatronic integration, a novel finger of the dextrous robot hand has been designed. The finger has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head, bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors, joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most, by high integration of finger body and driving system and sensors and electronics.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2005年第8期1022-1024,1028,共4页
Journal of Harbin Institute of Technology
基金
国家自然科学基金资助项目(60275032)
关键词
灵巧手
传感器
机电一体化
集成
robotic hand
sensors
mechatronic integration
作者简介
刘伊威（1977-），男，博士研究生；E-mail：ywliu@robinst．hit．edu．cn
刘宏（1966-），男，博士，“长江学者计划”特聘教授，博士生导师。
