文章摘要

文章信息/Info

Author(s):: FANG Kaixin; SHI Ping; WANG Zhihang; WANG Qingqing; YU Hongliu; Institute of Rehabilitation Engineering and Technology,University of Shanghai for Science and Technology,Shanghai 200093,China

Keywords:: Tendon transmission ; Link drive; Adduction; Kinematics; Bionic fingers

摘要:: 本研究设计了一种具有内收外展功能的新型仿生假手指机械结构。基于欠驱动理念，通过连杆机构实现仿生手指的内收外展功能，联合腱绳传动实现仿生手指的屈曲伸展运动。通过研究该肌腱-连杆双模态仿生手指结构的运动原理，提出了一种分离合成式数学模型。通过仿真对仿生手指的屈曲伸展和内收外展运动进了校验分析，结果表明食指、无名指和小指的内收外展运动角度范围分别为0~25°，0~15°和0~35°，屈曲伸展运动符合人手正常运动情况。仿真实验验证了本研究所设计结构的正确性和可行性。

Abstract:: We designed a new type of bionic artificial finger mechanical structure with adduction function. Based on the under-driving concept, the bionic fingers realized the adduction function through the link mechanism, and the flexion and extension movement in conjunction with the tendon rope transmission. By Studying the movement principle of this tendon-link bimodal bionic finger structure, a separate synthetic mathematical model was proposed, and the flexion extension and adduction movement of the bionic fingers were verified through simulation.The adduction movements range of the index finger, ring finger and little finger was 0~25°, 0~15° and 0~35° respectively, the flexion and extension function were in accordance with the normal movement of the human hand. The simulation results verify the correctness and feasibility of this design.