本文選題：欠驅(qū)動(dòng) + 假手��； 參考：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：假手作為康復(fù)醫(yī)學(xué)工程的重要內(nèi)容和組成部分,是使殘疾人康復(fù)、回歸社會(huì)的重要手段。因此,如何設(shè)計(jì)外形和功能都高度仿人的假手,并使其能夠?qū)Σ煌蛔ノ矬w都具有高度的自適應(yīng)性能力,一直是假手研究領(lǐng)域的重點(diǎn)。本文結(jié)合國(guó)家“973”計(jì)劃的主題項(xiàng)目課題“操作感知一體化靈巧假肢設(shè)計(jì)制造與性能評(píng)估”研制驅(qū)動(dòng)數(shù)目少,靈活性高,價(jià)格低廉、操作可靠、控制簡(jiǎn)單,且具有高度仿人外觀和運(yùn)動(dòng)形式的欠驅(qū)動(dòng)假手,使其滿足截肢患者的生活、心理需要。本課題的設(shè)計(jì)重點(diǎn)主要集中在如何根據(jù)人手功能運(yùn)動(dòng)譜的指導(dǎo),設(shè)計(jì)出驅(qū)動(dòng)數(shù)少、靈活性高、控制簡(jiǎn)單、輸出力大和成本低的欠驅(qū)動(dòng)假手。HIT-VI手的假手樣機(jī)由五個(gè)手指、一套協(xié)同機(jī)構(gòu)、三套電機(jī)齒輪箱傳動(dòng)系統(tǒng)和一個(gè)手掌安裝版組成。每個(gè)手指具有3個(gè)指節(jié)和3個(gè)旋轉(zhuǎn)關(guān)節(jié),具有2個(gè)自由度。協(xié)同機(jī)構(gòu)為假手的核心組成部分,包括了一套協(xié)同連桿機(jī)構(gòu)和三個(gè)直線導(dǎo)軌組成,由兩個(gè)電機(jī)協(xié)同驅(qū)動(dòng),手指之間具有一定的協(xié)同運(yùn)動(dòng)關(guān)系,又因?yàn)閰f(xié)同連桿中間具有一個(gè)柔性回轉(zhuǎn)關(guān)節(jié),使得協(xié)同連桿機(jī)構(gòu)具有很強(qiáng)的自適應(yīng)抓握能力。由于手掌中的結(jié)構(gòu)布局形式,協(xié)同連桿的三個(gè)輸出點(diǎn)具有位置限制,柔性回轉(zhuǎn)關(guān)節(jié)結(jié)合位置的限制,使得假手協(xié)同機(jī)構(gòu)能夠靈活的完成豐富的假手指示動(dòng)作以及自適應(yīng)抓取動(dòng)作。人手的手指運(yùn)動(dòng)模式是連續(xù)的,即在遇到物體之前手指關(guān)節(jié)間耦合聯(lián)動(dòng)。因此,HIT-VI欠驅(qū)動(dòng)假手的手指設(shè)計(jì)為具有耦合和欠驅(qū)動(dòng)雙重特點(diǎn),手指在自由空間運(yùn)動(dòng)時(shí),手指關(guān)節(jié)間間成比例聯(lián)動(dòng),當(dāng)某一個(gè)指節(jié)首先接觸物體以后,下一級(jí)指節(jié)將繼續(xù)轉(zhuǎn)動(dòng),從而完成對(duì)被操作物體的自適應(yīng)抓取。文中的第二部分給出了欠驅(qū)動(dòng)假手的設(shè)計(jì)指標(biāo)和傳動(dòng)系統(tǒng)方案,第三部分詳述了HIT-VI假手指間協(xié)同機(jī)構(gòu)的設(shè)計(jì)理念與思想及其詳細(xì)設(shè)計(jì)方法。第四部分設(shè)計(jì)了一種耦合-欠驅(qū)動(dòng)自適應(yīng)手指,文中在最后一部分通過(guò)實(shí)驗(yàn)的方式驗(yàn)證了耦合-欠驅(qū)動(dòng)手指的擬人性和自適應(yīng)性,驗(yàn)證了假手的靈巧性和自適應(yīng)抓取能力。
[Abstract]:As an important part of rehabilitation medical engineering, prosthetic hand is an important means to rehabilitate disabled persons and to return to society.Therefore, how to design a prosthetic hand which is highly similar in shape and function so that it can have a high degree of adaptability to different objects caught has always been the focus in the field of prosthetic hand research.Combined with the national "973" project, "Design, manufacture and performance evaluation of smart prosthesis with integrated operation and perception", this paper has the advantages of small number of drivers, high flexibility, low price, reliable operation and simple control.Moreover, the prosthetic hand with a highly humanoid appearance and sports form can meet the life and psychological needs of the amputee.The design focus of this subject is mainly on how to design the prototype of under-drive prosthetic hand with less driving number, high flexibility, simple control, large output force and low cost according to the guidance of manual function motion spectrum.A set of synergetic mechanism, three sets of motor gearbox transmission system and a palm of the installation version.Each finger has 3 knuckles and 3 rotating joints, with 2 degrees of freedom.The synergetic mechanism is the core component of the prosthetic hand, including a set of synergetic linkage mechanism and three linear guideways, which are driven by two motors, and there is a certain cooperative motion relationship between the fingers.Because there is a flexible rotary joint in the middle of the cooperative linkage, the cooperative linkage mechanism has a strong adaptive grasp ability.Because of the configuration of the palm of the hand, the three output points of the cooperative connecting rod are limited in position and the joint position of the flexible rotary joint is limited.It makes the prosthetic hand cooperation mechanism can flexibly complete a variety of artificial hand indication and adaptive grasp action.The finger motion pattern of the hand is continuous, that is, the finger joint coupling and linkage before meeting the object.Therefore, the fingers of the HIT-VI underactuated prosthetic hand are designed to have the characteristics of coupling and underactuation. When the fingers move in free space, there is a proportional linkage between the fingers and joints. When a certain knuckle first touches the object, the next knuckle will continue to rotate.Thus the adaptive capture of the operated object is completed.In the second part of the paper, the design index and transmission system scheme of underactuated prosthetic hand are given. In the third part, the design concept, idea and detailed design method of HIT-VI artificial finger cooperative mechanism are described in detail.In the fourth part, a coupling-underactuated adaptive finger is designed. In the last part of the paper, the pseudo-human nature and adaptability of the coupling-underactuated finger are verified by experiments, and the dexterity and the self-adaptive grasping ability of the prosthetic hand are verified
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：R496

【相似文獻(xiàn)】

相關(guān)會(huì)議論文 前4條

1 侯增廣;潭民;韓京清;;欠驅(qū)動(dòng)機(jī)構(gòu)控制的一種非光滑設(shè)計(jì)方法[A];第十九屆中國(guó)控制會(huì)議論文集（二）[C];2000年

2 劉展雷;馬保離;;基于觀測(cè)器的欠驅(qū)動(dòng)船舶的輸出反饋鎮(zhèn)定[A];第二十七屆中國(guó)控制會(huì)議論文集[C];2008年

3 趙秋玲;周亞麗;張奇志;;單足機(jī)器人跳躍控制研究[A];2009年中國(guó)智能自動(dòng)化會(huì)議論文集（第二分冊(cè)）[C];2009年

4 劉慶波;余躍慶;蘇麗穎;;一種欠驅(qū)動(dòng)機(jī)器人最優(yōu)避障運(yùn)動(dòng)規(guī)劃新方法[A];2007'儀表，自動(dòng)化及先進(jìn)集成技術(shù)大會(huì)論文集（二）[C];2007年

相關(guān)重要報(bào)紙文章 前1條

1 本報(bào)記者 蔡煒 唐傳虎 本報(bào)見習(xí)記者 王巖;常州“智匯谷”展露未來(lái)神奇[N];新華日?qǐng)?bào);2012年

相關(guān)博士學(xué)位論文 前1條

1 張佩杰;欠驅(qū)動(dòng)雙足機(jī)器人行走步態(tài)建模與動(dòng)態(tài)行走控制策略研究[D];吉林大學(xué);2010年

相關(guān)碩士學(xué)位論文 前10條

1 高超;核救災(zāi)機(jī)器人欠驅(qū)動(dòng)三指手抓持特性分析與開門抓持規(guī)劃[D];哈爾濱工業(yè)大學(xué);2015年

2 程明;基于指間協(xié)同的欠驅(qū)動(dòng)假手機(jī)構(gòu)研究[D];哈爾濱工業(yè)大學(xué);2015年

3 何艷濤;一種繩驅(qū)式欠驅(qū)動(dòng)三指靈巧手的研究[D];哈爾濱工業(yè)大學(xué);2014年

4 任志全;3R欠驅(qū)動(dòng)機(jī)器人位置控制方法與實(shí)驗(yàn)研究[D];北京工業(yè)大學(xué);2010年

5 徐超;基于有級(jí)邊拓?fù)鋱D的欠驅(qū)動(dòng)手指構(gòu)型及分析[D];中南大學(xué);2013年

6 夏艷;基于差動(dòng)機(jī)構(gòu)的欠驅(qū)動(dòng)自適應(yīng)式空間捕獲裝置研究[D];哈爾濱工業(yè)大學(xué);2014年

7 卜奪奪;仿人機(jī)器人欠驅(qū)動(dòng)靈巧手研究[D];杭州電子科技大學(xué);2012年

8 茅一春;肌電控制欠驅(qū)動(dòng)仿人假肢手的設(shè)計(jì)[D];上海交通大學(xué);2007年

9 張善平;欠驅(qū)動(dòng)四足機(jī)器人機(jī)構(gòu)設(shè)計(jì)與仿真[D];上海工程技術(shù)大學(xué);2015年

10 楚禮;欠驅(qū)動(dòng)假肢手抓握性能優(yōu)化與抓握力控制研究[D];中南大學(xué);2014年

，

本文編號(hào)：1766134