机电工程技术2024，Vol.53Issue(4)：82-85,110,5.DOI:10.3969/j.issn.1009-9492.2024.04.019
一种仿生机械手的创新设计及运动学仿真
Innovative Design and Kinematics Simulation of a Bionic Manipulator
摘要
Abstract
The bionic robotic hand is a device that emulates the grasping function of living organisms.It typically possesses flexible joints and fingers,enabling it to perform various shapes and angles of grasping,finding widespread applications.An original design is introduced for a bionic robotic hand aiming to enhance its flexibility and stability.A crossed"cross-axis"structure is used on the wrist joint,offering degrees of freedom for both forward-backward and lateral swinging motions.The finger portion of the robotic hand is driven by push rod motors and linkage mechanisms,enhancing the hand′s dexterity.SolidWorks software is used to build a three-dimensional model of the manipulator,and the improved D-H parameter method is used to establish the kinematic equations.Kinematic simulation analysis is conducted by using MATLAB software,and visual analysis is performed by using the Monte Carlo method to validate the feasibility of the robotic hand design.Calculation analysis is carried out on the end-point velocity during the grasping process,providing a theoretical basis for the control of the robotic hand.The research results can provide a useful reference for the structural innovation and performance improvement of the biomimetic manipulator.关键词
仿生机械手/结构设计/运动学仿真/MATLABKey words
bionic manipulator/structural design/kinematics simulation/MATLAB分类
机械制造引用本文复制引用
黎小巨,刘伟乐,洪春龙,朱瑞洋..一种仿生机械手的创新设计及运动学仿真[J].机电工程技术,2024,53(4):82-85,110,5.基金项目
广东省2022年大学生攀登计划项目(pdjh2022b0739) （pdjh2022b0739）
广东省普通高校特色创新类项目(2021KTSCX190) （2021KTSCX190）
