关键词: 欠驱动手, 机构设计, 参数优化, 实验分析

Abstract: The tendon-driven robotic hands have the disadvantages of more motors,larger mechanism volume and more complex control system compared with underactuated hands,which have many limitations in practical application.Thus,a novel robotic hand based on muscle-mimicking and elastic mechanism was presented.A humanoid finger design was carried out based on anatomical characteristic of human finger.The robotic finger's underactuated system was achieved by double-tendon and elastic mechanism.A method of how to choose the elastic parameter was proposed which guaranted the reachable workspace of the fingertip and avoided unstable grasping situations efficiently.Then,the mapping relationship from joint space to tendon space was established by analysing the finger's kinematics.The position parameter of the finger in the palm was optimized to achieve a better palm size and range of grasping,and the evaluation index was also given.Grasping experiments on objects of different shapes and sizes were carried out,the result showed that the robotic hand had strong adaptive grasping ability and large grasping range.

Key words: underactuated robotic hand, mechanism design, parameter optimization, experiments analysis