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On-line Access: 2022-10-20
Received: 2022-04-18
Revision Accepted: 2022-08-08
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Yong-bin JIN, Shao-wen CHENG, Yan-yan YUAN, Hong-tao WANG, Wei YANG. Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp[J]. Journal of Zhejiang University Science A,in press.Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/jzus.A2200216 @article{title="Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp", %0 Journal Article TY - JOUR
通过绞合线驱动与达芬奇机构实现兼顾人手般灵巧性与抓握力的仿生机械手机构:1浙江大学,交叉力学中心,中国杭州,310027;2浙江大学杭州国际科创中心,中国杭州,310027;3浙江大学,流体传动及控制国家重点实验室,中国杭州,310027;4浙江大学,航空航天学院应用力学研究所,中国杭州,310027 目的:由于空间的限制,在仿生灵巧机械手设计的时候存在灵巧性与抓握力量之间的矛盾。本文旨在通过智能机构设计,实现机械手综合性能的提升。 创新点:1.基于人手运动数据库对达芬奇机构进行优化,复现人手运动学特征;2.基于绞合线传动机构实现机械手的轻量化和紧凑性设计;3.仿生机械手应用于植入式脑机接口临床试验。 方法:1.通过理论推导,构建欠驱动的达芬奇机构运动学与机构参数的关系(公式(2));2.通过主成分分析,得到人手关节之间的耦合关系并用于优化达芬奇机构的参数(图3);3.通过几何分析得到绞合线驱动系统的非线性传动公式(图4和公式(7))。 结论:1.基于绞合线驱动和达芬奇机构的仿生机械手可以在受限空间中实现机械手的抓握力量与灵巧性的平衡;2.得益于欠驱动的达芬奇机构,机械手的灵巧性较好,能够适应不同形状的物体;3.本文所设计的机械手得以成功地应用于中国首例临床植入式脑机接口实验,展示了高超的灵巧性、适应性与鲁棒性。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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