基于指间协同的欠驱动假手机构研究

发布时间：2018-04-18 01:13

本文选题：欠驱动 + 假手　；参考：《哈尔滨工业大学》2015年硕士论文

【摘要】：假手作为康复医学工程的重要内容和组成部分,是使残疾人康复、回归社会的重要手段。因此,如何设计外形和功能都高度仿人的假手,并使其能够对不同被抓物体都具有高度的自适应性能力,一直是假手研究领域的重点。本文结合国家“973”计划的主题项目课题“操作感知一体化灵巧假肢设计制造与性能评估”研制驱动数目少,灵活性高,价格低廉、操作可靠、控制简单,且具有高度仿人外观和运动形式的欠驱动假手,使其满足截肢患者的生活、心理需要。本课题的设计重点主要集中在如何根据人手功能运动谱的指导,设计出驱动数少、灵活性高、控制简单、输出力大和成本低的欠驱动假手。HIT-VI手的假手样机由五个手指、一套协同机构、三套电机齿轮箱传动系统和一个手掌安装版组成。每个手指具有3个指节和3个旋转关节,具有2个自由度。协同机构为假手的核心组成部分,包括了一套协同连杆机构和三个直线导轨组成,由两个电机协同驱动,手指之间具有一定的协同运动关系,又因为协同连杆中间具有一个柔性回转关节,使得协同连杆机构具有很强的自适应抓握能力。由于手掌中的结构布局形式,协同连杆的三个输出点具有位置限制,柔性回转关节结合位置的限制,使得假手协同机构能够灵活的完成丰富的假手指示动作以及自适应抓取动作。人手的手指运动模式是连续的,即在遇到物体之前手指关节间耦合联动。因此,HIT-VI欠驱动假手的手指设计为具有耦合和欠驱动双重特点,手指在自由空间运动时,手指关节间间成比例联动,当某一个指节首先接触物体以后,下一级指节将继续转动,从而完成对被操作物体的自适应抓取。文中的第二部分给出了欠驱动假手的设计指标和传动系统方案,第三部分详述了HIT-VI假手指间协同机构的设计理念与思想及其详细设计方法。第四部分设计了一种耦合-欠驱动自适应手指,文中在最后一部分通过实验的方式验证了耦合-欠驱动手指的拟人性和自适应性,验证了假手的灵巧性和自适应抓取能力。
[Abstract]:As an important part of rehabilitation medical engineering, prosthetic hand is an important means to rehabilitate disabled persons and to return to society.Therefore, how to design a prosthetic hand which is highly similar in shape and function so that it can have a high degree of adaptability to different objects caught has always been the focus in the field of prosthetic hand research.Combined with the national "973" project, "Design, manufacture and performance evaluation of smart prosthesis with integrated operation and perception", this paper has the advantages of small number of drivers, high flexibility, low price, reliable operation and simple control.Moreover, the prosthetic hand with a highly humanoid appearance and sports form can meet the life and psychological needs of the amputee.The design focus of this subject is mainly on how to design the prototype of under-drive prosthetic hand with less driving number, high flexibility, simple control, large output force and low cost according to the guidance of manual function motion spectrum.A set of synergetic mechanism, three sets of motor gearbox transmission system and a palm of the installation version.Each finger has 3 knuckles and 3 rotating joints, with 2 degrees of freedom.The synergetic mechanism is the core component of the prosthetic hand, including a set of synergetic linkage mechanism and three linear guideways, which are driven by two motors, and there is a certain cooperative motion relationship between the fingers.Because there is a flexible rotary joint in the middle of the cooperative linkage, the cooperative linkage mechanism has a strong adaptive grasp ability.Because of the configuration of the palm of the hand, the three output points of the cooperative connecting rod are limited in position and the joint position of the flexible rotary joint is limited.It makes the prosthetic hand cooperation mechanism can flexibly complete a variety of artificial hand indication and adaptive grasp action.The finger motion pattern of the hand is continuous, that is, the finger joint coupling and linkage before meeting the object.Therefore, the fingers of the HIT-VI underactuated prosthetic hand are designed to have the characteristics of coupling and underactuation. When the fingers move in free space, there is a proportional linkage between the fingers and joints. When a certain knuckle first touches the object, the next knuckle will continue to rotate.Thus the adaptive capture of the operated object is completed.In the second part of the paper, the design index and transmission system scheme of underactuated prosthetic hand are given. In the third part, the design concept, idea and detailed design method of HIT-VI artificial finger cooperative mechanism are described in detail.In the fourth part, a coupling-underactuated adaptive finger is designed. In the last part of the paper, the pseudo-human nature and adaptability of the coupling-underactuated finger are verified by experiments, and the dexterity and the self-adaptive grasping ability of the prosthetic hand are verified
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496

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