基于单开链叠加法的欠驱动手指结构类型综合

何竞飞; 潘祺; 邓华; 万闯建; 杨鸣

doi:10.13433/j.cnki.1003-8728.2015.0902

基于单开链叠加法的欠驱动手指结构类型综合

doi: 10.13433/j.cnki.1003-8728.2015.0902

何竞飞^1,2,
潘祺^1,2,
邓华^1,2,
万闯建^1,2,
杨鸣^1,2

1.
中南大学高性能复杂制造国家重点实验室, 长沙 410083;
2.
中南大学机电工程学院, 长沙 410083

基金项目:

国家重点基础研究发展计划（973计划）规划项目（2011CB013300-G）资助

详细信息

作者简介:
何竞飞（1956-），副教授，硕士，研究方向为机械设计及理论、高等机构学等，hejf2004@sina.com

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- 文章访问数: 154
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- 被引次数: 0
出版历程
- 收稿日期: 2013-12-12
- 刊出日期: 2015-09-05

Configuration Type Synthesis of Under-actuated Finger Based on Superposition of SOC

He Jingfei^1,2,
Pan Qi^1,2,
Deng Hua^1,2,
Wan Chuangjian^1,2,
Yang Ming^1,2

1.
Key Laboratory of High performance and Complex Manufacturing, Central South University, Changsha 410083, China;
2.
Central South University, College of Mechanical and Electrical Engineering, Changsha 410083, China

摘要

摘要: 以表述机构关联特性的拓扑图为基础，引入单开链叠加的方法，即依次将单开链两端的运动副联接在已有运动链的构件上以得到完整的运动链拓扑图，从而为机构类型综合提供研究方法。利用引入的单开链叠加法对欠驱动三指节手指机构进行运动链的生成，分别综合了三自由度及二自由度手指机构的运动链结构类型，并从中优选出一部分拓扑图，进而反推出一些可行的新型手指机构，为欠驱动灵巧手手指提供更多机构类型。
- 拓扑图 /
- 单开链叠加法 /
- 运动链 /
- 欠驱动手指 /
- 结构类型
Abstract: The method of SOC superposition is introduced. In this method the ends of single-opened-chain(SOC) is connected to existing kinematic chain with kinematic pairs and components to obtain a complete topological graph, the relevant character of the mechanism is also described in the basis of topological graph. The superposition of SOC provides a research method for type synthesis of mechanism. With this method, the kinematic chains of under-actuated 3-knuckle finger are acquired, the new type of 2 degrees of freedom(DOF) and 3 DOF finger mechanisms are obtained with deducing topological graphs optimized from the above mentioned Kinematic chain. The present study provides more configurations for under-actuated dexterous hand.
- configuration type /
- kinematic chain /
- method of SOC superposition /
- topological graph /
- under-actuated finger

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参考文献(15)

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