机械科学与技术2011，Vol.30Issue(8)：1402-1408,7.
基于关节全驱动的液压手指机构设计与仿真
Design and Simulation of a Hydraulic Finger Mechanism Based on Actuated Joints
摘要
Abstract
For improving the load capacity of the present muhi-fingered hand, a new hydraulic finger mechanism based on full-driven joints is designed. A changeable four-bar mechanism and a hydraulic unit driver are integrated in one finger to realize the movement. According to the grasping characteristics, the hydraulic driven system is de- signed. Then the kinematical equation of the finger mechanism is deduced. The kinematical relations between joint angles and hydraulic cylinder stroke are established, and the envelope space is worked out by Matlab. Finally, the finger mechanism model is constructed in ADAMS/View, and the grasp simulation is carried out. The analysis results verify the feasibility and effectiveness of the full-hydraulic driven strategy, and satisfy the desired requirements.关键词
多指手/液压手指机构/关节全驱动/仿真Key words
multi-fingered hand/hydraulic finger mechanism/actuated joints/simulation分类
信息技术与安全科学引用本文复制引用
蒋波,刘庆运..基于关节全驱动的液压手指机构设计与仿真[J].机械科学与技术,2011,30(8):1402-1408,7.基金项目
安徽省自然科学基金项目（090412037）,安徽省教育厅自然科学研究项目（KJ20098034Z）,安徽省高校青年教师科研项目（2008jq1033）和安徽工业大学创新团队建设计划资助项目资助 （）
