CAJ | 학술논문

模拟人手的生理结构，创建一种新型欠驱动五指灵巧手系统。介绍了欠驱动灵巧手的结构，提出一种基于欠驱动关节机构顺序驱动的方法；从运动学的角度出发，使用Matlab Robotics Toolbox绘制了手指指尖运动的工作空间域，并与采用关节同时驱动的指尖运动的工作空间域进行了对比，结果表明关节结构顺序驱动方法具有更大的工作域空间；最后，介绍了控制系统方案与电路，初步实现了欠驱动五指灵巧手的弯曲/伸展与内收/外展运动，其控制效果良好。
모의인수적생리결구，창건일충신형흠구동오지령교수계통。개소료흠구동령교수적결구，제출일충기우흠구동관절궤구순서구동적방법；종운동학적각도출발，사용Matlab Robotics Toolbox회제료수지지첨운동적공작공간역，병여채용관절동시구동적지첨운동적공작공간역진행료대비，결과표명관절결구순서구동방법구유경대적공작역공간；최후，개소료공제계통방안여전로，초보실현료흠구동오지령교수적만곡/신전여내수/외전운동，기공제효과량호。
By simulating the physical structure of the human hand,a new type of under-actuated dexterous hand system was cre-ated.The structure of the under-actuated dexterous hand was introduced,and a new driven method based on the sequential under-actu-ated joint mechanism was proposed.The movement spatial domain of the fingertips was drawn by using Matlab Robotics Toolbox from the kinematic of view.The results show that the joint of the sequential driving method has larger movement spatial domain.Finally,the scheme and the circuit of the control system are introduced,and the experiment realizes the primary movement of flexion/extension and adduction/abduction of under-actuated dexterous hand,and has good control effect.