含弧形自由度仿人灵巧手掌的机构设计

提出了一种人手掌的简化模型，根据该模型，设计了仿人灵巧手掌的机构，使得只作为仿人灵巧手手指及其控制部件机架的手掌形成弧形自由度参加手部动作，提高了仿人灵巧手通用性、灵活性和抓持物体的适应性。经优化设计和仿真，机构完全符合灵巧手进行运动时手掌的运动要求。
关键词：机器人；含弧形自由度仿人灵巧手掌；机构优化
Abstract：This paper introduces a model to predigest the palm of human ,according to the
model ,mechanisms of the dexterous robotic palm is designed, in order to make the palm which is mostly used as the rack of the dexterous robotic fingers and their control units form palm arch degree to assist the operations of the dexterous robotic hand，to improve the interchangeable capacity，dexterity and adaptability when the dexterous robotic hand grasps objects. After mechanisms optimization and simulation, the mechanisms adapt for the demands of the palm’s operations when the dexterous robotic hand is moving totally.
Key words：robot ; dexterous robotic palm including palm arch degree; mechanisms optimization