壓縮包內含有CAD圖紙和說明書,均可直接下載獲得文件，所見所得，電腦查看更方便。Q 197216396 或 11970985
摘要
目前擬人假肢普遍采用多指靈巧手的設計思想，利用電機、電子和傳感器等領域的最新技術成果，實現假手的多自由度和多感知，從而最大程度地提高假手的靈活性和可操作性。但是，從生物／機械系統(tǒng)接口技術的研究現狀來看，基于殘余臂EMG(肌電)信號的運動解碼器對于手的運動模式識別功能十分有限且識別率低，利用EMG信號控制多指手這樣的靈巧操作機構各驅動單元的協調運動在技術上難以實現；并且，多自由度靈巧手由于驅動單元過多，重量較重，也很難被市場接受。
為了解決上面的問題，本文設計并開發(fā)了一種新型的欠驅動肌電機械手。仿人假肢手由4個電機驅動15個關節(jié)，克服了現有技術中手指靈活度不夠的缺點，減小了功耗，利于機械手的小型化。該手對于不同的抓取物體具有良好的形狀適應性，且在部分手指運動受限的情況下具有理想的力分配特性。
本文描述該假手的具體設計與機構組成，介紹了其兩大主要創(chuàng)新點：一是彈性交叉四連桿手指，二是指間差動機構。
ABSTRACT
Nowadays lots of human prosthetic hands are designed; they all followed the idea of the dexterous hands, which using high performance motors, sensors or other new technology to get more freedom or feeling. However the more motors are deployed, the more requirements to the bio-mechanical interface and the power will be higher. Because of the limitations of biological/mechanical interface technology, most of the prosthetic hands are low dexterousness and functionality, and with high weight, these kinds of hands are unaccepted by the market.
In order to resolve the problem, a prototype of underactuated prosthetic hand is designed and developed. The hand has 15 revolute joints, actuated by 4 motors. The hand is more dexterous, more energy solving and smaller size. It can grasp different objects, like the mobile phones, the books, the bottles, the pingpong balls and etc, and has the good force distribution capability.
This thesis introduces two main innovative structures: first One is underactuated finger; another is a miniature differential mechanism which is embedded inside the palm of the hand to control the differential motion of the two fingers.