多指靈巧手的研究在過去幾十年已經(jīng)取得了極大的進(jìn)展,展示出了出色的抓取與操作能力。然而假肢的特殊用途對假肢手的設(shè)計(jì)提出了更高的需求:輕量化、抓取模式多樣、高性價(jià)比以及控制方法簡單等。針對這些挑戰(zhàn),本文主要研究新型連續(xù)體機(jī)構(gòu)及其在假肢手設(shè)計(jì)中的應(yīng)用。連續(xù)體機(jī)構(gòu)采用彈性桿件作為結(jié)構(gòu)體,相比傳統(tǒng)剛性桿件機(jī)器人具有多項(xiàng)明顯的優(yōu)勢,例如可以與環(huán)境實(shí)現(xiàn)安全交互、在受限空間內(nèi)實(shí)現(xiàn)靈巧操作以及抓取非結(jié)構(gòu)化物體等,因而在最近十余年成為了研究熱點(diǎn)。本文首次將連續(xù)體機(jī)構(gòu)引入到假肢手研究中,將其作為傳動機(jī)構(gòu)以實(shí)現(xiàn)對多關(guān)節(jié)假肢手的耦合或差分驅(qū)動,對假肢手設(shè)計(jì)中的多個(gè)難點(diǎn)問題提出了創(chuàng)新的解決方案。本文首先提出了一種合成連續(xù)體機(jī)構(gòu),以實(shí)現(xiàn)對仿人假肢手的運(yùn)動協(xié)同驅(qū)動。合成連續(xù)體機(jī)構(gòu)可將兩路運(yùn)動輸入線性組合映射為多路運(yùn)動輸出,輸入輸出之間具有線性的協(xié)同關(guān)系。本文分別采用線性降維方法和非線性方法綜合了多自由度機(jī)械手的主運(yùn)動協(xié)同,建立了線性主運(yùn)動和合成連續(xù)體機(jī)構(gòu)之間的數(shù)學(xué)關(guān)系,提出了該機(jī)構(gòu)的參數(shù)設(shè)計(jì)方法,并設(shè)計(jì)了一型原理樣機(jī)用于實(shí)驗(yàn)驗(yàn)證。實(shí)驗(yàn)表明,使用合成連續(xù)體機(jī)構(gòu)的仿人機(jī)械手可以實(shí)現(xiàn)多種的抓取動作。通過合理的小型化設(shè)計(jì),該...

【文章頁數(shù)】：157 頁

【學(xué)位級別】：博士

【文章目錄】：
Abstract
摘要
Acknowledgements
1. Introduction
    1.1 Background
        1.1.1 Dexterous robotic hands
        1.1.2 Prosthetic hands
        1.1.3 Transmissions for prosthetic hands
        1.1.4 Continuum mechanisms
    1.2 Motivation
    1.3 Organization
2. Composed Continuum Mechanism (CCM)
    2.1 Introduction of CCM
    2.2 Nomenclature and kinematics
    2.3 Discussion
3. Synergy Implementation Using the CCM
    3.1 Hand postural synergy
        3.1.1 Prosthetic hand design and posture collection
        3.1.2 Linear and nonlinear method for synergy synthesis
        3.1.3 Verification and comparison
    3.2 Implementing linear synergies using the CCM
        3.2.1 Anthropomorphic hand design
        3.2.2 Postural synergy synthesis
        3.2.3 Design of the CCM
        3.2.4 Experimental verifications
    3.3 Discussion
4. Continuum Differential Mechanisms (CDMs)
    4.1 Introduction of CDMs
    4.2 Kinetostatic analysis and comparisons
        4.2.1 Analysis of the spatial CDM
        4.2.2 Analysis of the Planar CDM
        4.2.3 Comparisons to two differential mechanisms
    4.3 Gripper designs and experimentation
        4.3.1 Force transmission properties of the CDMs
        4.3.2 Gripper performance characterizations
    4.4 Discussion
5. Applications of the CMDs
    5.1 A partial hand prosthesis
        5.1.1 Design objectives and overview
        5.1.2 Design descriptions
        5.1.3 Experimental characterizations
    5.2 A transradial hand prosthesis
        5.2.1 Design motivations
        5.2.2 Design concept and overview
        5.2.3 Design descriptions and analyses
        5.2.4 Experimental characterizations
    5.3 Discussion
6 Conclusion
    6.1 Contributions
    6.2 Future Directions
Appendix A
Appendix B
Bibliography



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