机械5

摘要 目前拟人假肢普遍采用多指灵巧手的设计思想，利用电机、电子和传感器等领域的最新技术成果，实现假手的多自由度和多感知，从而最大程度地提高假手的灵活性和可操作性。但是，从生物／机械系统接口技术的研究现状来看，基于残余臂EMG(肌电)信号的运动解码器对于手的运动模式识别功能十分有限且识别率低，利用EMG信号控制多指手这样的灵巧操作机构各驱动单元的协调运动在技术上难以实现；并且，多自由度灵巧手由于驱动单元过多，重量较重，也很难被市场接受。 为了解决上面的问题，本文设计并开发了一种新型的欠驱动肌电机械手。仿人假肢手由4个电机驱动15个关节，克服了现有技术中手指灵活度不够的缺点，减小了功耗，利于机械手的小型化。该手对于不同的抓取物体具有良好的形状适应性，且在部分手指运动受限的情况下具有理想的力分配特性。 本文描述该假手的具体设计与机构组成，介绍了其两大主要创新点：一是弹性交叉四连杆手指，二是指间差动机构。 ABSTRACT Nowadays lots of huma
n prosthetic ha
nds are desig
ned; they all followed the idea of the dexterous ha
nds, which usi
ng high performa
nce motors, se
nsors or other
new tech
nology to get more freedom or feeli
ng. However the more motors are deployed, the more requireme
nts to the bio-mecha
nical i
nterface a
nd the power will be higher. Because of the limitatio
ns of biological/mecha
nical i
nterface tech
nology, most of the prosthetic ha
nds are low dexterous
ness a
nd fu
nctio
nality, a
nd with high weight, these ki
nds of ha
nds are u
naccepted by the market. I
n order to resolve the problem, a prototype of u
nderactuated prosthetic ha
nd is desig
ned a
nd developed. The ha
nd has 15 revolute joi
nts, actuated by 4 motors. The ha
nd is more dexterous, more e
nergy solvi
ng a
nd smaller size. It ca
n grasp differe
nt objects, like the mobile pho
nes, the books, the bottles, the pi
ngpo
ng balls a
nd etc, a
nd has the good force distributio
n capability. This thesis i
ntroduces two mai
n i
n
novative structures: first O
ne is u
nderactuated fi
nger; a
nother is a mi
niature differe
ntial mecha
nism which is embedded i
nside the palm of the ha
nd to co
ntrol the differe
ntial motio
n of the two fi
ngers. 目录 第一章绪论 §1.1国内外假手的研究现状…………………………………6 §1.2假手研究的目的和意义…………………………………10 第二章假手功能原理的设计 §2.1假手应该具有的基本功能………………………………12 §2.2假手基本功能的实现……………………………………12 第三章肌电假手的结构设计 §3.1肌电假手的整体方案……………………………………14 §3.2肌电假手的手指设计……………………………………15 §3.3拇指的设计………………………………………………16 §3.4指间差动机构的设计……………………………………17 §3.5手掌的设计………………………………………………18 第四章肌电假手的实用化设计 §4.1实用化设计的任务和主要内容…………………………19 §4.2假手的总体设计…………………………………………19 §4.3基本构件的结构设计……………………………………20 第五章总结与展望 §5.1设计工作总结…………………………………………23 §5.2前景展望……………………………………………………23 致谢…………………………………………………………………25 参考文献…………………………………………………………26