机器人2009，Vol.31Issue(6)：620-624,5.
一种单电机驱动多指多关节机械手的设计
Design of a Multi-Fingered and Multi-Joint Gripper Based on Single Motor Driving
摘要
Abstract
In order to grasp objects dexterously and stably by robot, this paper proposes a new structure for four-fingered and twelve-joint gripper based on single motor driving. The motor drives a cross-linkage, whose terminal connects the first power rod of each finger. Every finger has three joints, and two knuckles each with a parallelogram structure ensure the translational motion of fingertip. The second power rod of each finger has a prolonged chute, and the specially designed chute shifts around a fixed fulcrum to realize the fingertip uniform motion while the second power rod moves. The new design scheme of the single motor driven gripper is of simple control and solid grasp.关键词
机器人手爪/多指多关节/单电机驱动Key words
robotic gripper/ multi-fingered and multi-joint/ single motor driving分类
信息技术与安全科学引用本文复制引用
罗志增,顾培民..一种单电机驱动多指多关节机械手的设计[J].机器人,2009,31(6):620-624,5.基金项目
国家自然科学基金资助项目(60874102) （60874102）
国家863计划资助项目(2008AA04Z212). （2008AA04Z212）
