五指灵巧手结构设计 摘要 五指灵巧手是一种仿人手结构设计并通过设计与控制系统使灵巧手具备设计要求的运动范围和按需求完成相应运动动作的机械手。在制造行业当中，可以看到很多机械手在代替人们去完成各种简单的操作和任务，机械手不仅在制造领域中展现了它巨大的潜力，并且在多个行业中都有涉及。 但随着科技发展与生活需要，人们需要灵活度更高能够做出更复杂的运动动作的机械手来应用于各种各样的行业中，可是在目前来讲机械手还是没办法完全取代人类工作，考虑到生产成本加工成本，还有劳动力的消耗，那么就需要设计一款模拟人手的机械手，来达到人手工作要求的灵活度，去代替他们作业。 本篇通过仿人手结构设计，在结构简单传动有效的前提下，构建了一个可以简单抓握物品的五指灵巧手，给出了该五指灵巧手的整体结构和关键传动机构的设计，并通过仿真验证了本文设计能否达到设计要求。 关键词：五指；灵巧手；结构；设计 Abstract Five-fi
nger dexterous ha
nd is a ki
nd of ma
nipulator which imitates the structure desig
n of huma
n ha
nd a
nd e
nables the dexterous ha
nd to have the ra
nge of motio
n required by the desig
n a
nd complete the correspo
ndi
ng motio
n accordi
ng to the requireme
nts through the desig
n a
nd co
ntrol system. I
n the ma
nufacturi
ng i
ndustry, we ca
n see that ma
ny ma
nipulators are replaci
ng people to complete various simple operatio
ns a
nd tasks. Ma
nipulators
not o
nly show great pote
ntial i
n the ma
nufacturi
ng field, but also are i
nvolved i
n ma
ny i
ndustries. However, with the developme
nt of scie
nce a
nd tech
nology a
nd the
needs of life, people
need more flexible ma
nipulators capable of maki
ng more complex moveme
nts to be applied i
n various i
ndustries. However, at prese
nt, ma
nipulators still ca
n
not completely replace huma
n work. Co
nsideri
ng the productio
n cost, processi
ng cost a
nd labor co
nsumptio
n, the
n it is
necessary to desig
n a ma
nipulator simulati
ng huma
n ha
nds to achieve the flexibility required by huma
n ha
nds to replace their work. I
n this paper, a five-fi
nger dexterous ha
nd which ca
n grasp objects simply is co
nstructed by imitati
ng the structure desig
n of huma
n ha
nds a
nd u
nder the premise of simple structure a
nd effective tra
nsmissio
n. The overall structure of the five-fi
nger dexterous ha
nd a
nd the desig
n of key tra
nsmissio
n mecha
nism are give
n. The simulatio
n verifies whether the desig
n i
n this paper ca
n meet the desig
n requireme
nts. Keywords: Five fi
ngers; Dexterous ha
nd; Structure; Desig
n 目录 1引论1 1.1研究的背景及其意义1 1.2国内外研究现状及发展趋势1 1.3技术路线2 1.4研究内容3 2五指灵巧手手指机构的传动方案设计5 2.1手指关节的传动方案设计5 2.2手指关节的设计与制作5 2.3手指关节间连接机构的设计7 3关键结构的选型与校核10 3.1电机选用10 3.2控制系统的选用10 3.3五指灵巧手坐标系的建立10 3.4五指灵巧手正运动学解11 3.5五指灵巧手动力学模型12 4五指灵巧手运动抓持仿真14 4.1仿真条件设置与推导14 4.2手指各指节的运动耦合关系分析结果15 5结语17 参考文献18 致谢19