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为了提高推拿机器人的自动化程度,完成了多自由度推拿灵巧手的结构设计和运动学分析。该灵巧手含有食指、中指、无名指和大拇指4只手指,每个手指拥有指掌和指指两个关节,食指、中指、无名指3只手指的两个关节分别联动,使得本灵巧手共4个自由度。此外,本灵巧手创新性地采用了曲柄摇杆机构驱动指指关节,有利于提高捏法操作中运动的连续性和周期性,避免电机的频繁换向,延长电机的使用寿命。利用MATLAB的数值分析和ADAMS运动仿真功能,验证了本灵巧手实现捏法操作的运动性能。
In order to improve the degree of automation of the robot for massage, the structural design and kinematics analysis of dexterous hand with multiple degrees of freedom were completed. The dexterous hand contains the index finger, middle finger, ring finger and thumb 4 fingers, each finger has the palm and finger two joints, the index finger, middle finger, ring finger three fingers were linked to the two joints, making the dexterous hand a total of 4 A degree of freedom. In addition, this dexterous hand innovatively uses the crank rocker mechanism to drive the finger joints, which helps to improve the continuity and periodicity of the movement in the pinch operation, avoids the frequent commutation of the motor, and prolongs the service life of the motor. Using MATLAB numerical analysis and ADAMS motion simulation, the performance of this dexterous hand is verified.