文章摘要

文章信息/Info

Author(s):: ZHOU Binbin; ZOU Renling; College of Medical Devices and Food, Shanghai University of Science and Technology,Shanghai 200093,China

Keywords:: Rehabilitation equipment; Pneumatic muscle; Kinematics simulation; Bionic hand; Control system

摘要:: 由于传统仿生手自由度较少、绳索传动方式力传递性不足，本研究设计了一种手指内部连杆结构的仿生手。采用SolidWorks2019对仿生手进行三维建模，分别针对手掌、拇指以及其余四指进行内部传动杆件设计，最后组装成一个完整的仿生手结构。使用Motion分析模块分别对手指的屈曲/伸展运动以及大拇指的内外运动进行运动学仿真以及联合运动仿真。结果表明，连杆结构仿生手结构合理，仿生手可以平稳的完成指定手部动作。

Abstract:: In view of the less freedom of traditional bionic hand and insufficient force transmission of rope transmission structure, a kind of bionic hand with internal connecting rod structure of finger was designed. SolidWorks 2019 was used to build the three-dimensional model of the bionic hand. The internal transmission rods were designed for the palm, thumb and the other four fingers respectively. Finally, a complete structure of the bionic hand was assembled. We used the motion analysis module to simulate the flexion/extension motion of the finger and the internal and external motion of the thumb, as well as the joint motion. The simulation results show that the structure of the bionic hand with connecting rod structure is reasonable, and the bionic hand can complete the specified hand movement smoothly.