Design of Dexterous Hand for Massage and Its Position Analysis and Simulation

Zhou Runsheng; Yin Xiaoqin; Zhu Hejun

doi:10.16578/j.issn.1004.2539.2017.07.022

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Design of Dexterous Hand for Massage and Its Position Analysis and Simulation

更新时间：2022-10-20

- Design of Dexterous Hand for Massage and Its Position Analysis and Simulation
- Vol. 41, Issue 7, Pages: 102-105(2017)
- 作者机构：
  
  1. 江苏大学智能机械与机器人研究所
  2. 江苏联合职业技术学院镇江分院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.07.022
  CLC：
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[1]周润生,尹小琴,朱和军.推拿灵巧手的设计及其位置分析与仿真[J].机械传动,2017,41(07):102-105.

Zhou Runsheng, Yin Xiaoqin, Zhu Hejun. Design of Dexterous Hand for Massage and Its Position Analysis and Simulation. [J]. 41(7):102-105(2017)
[1]周润生,尹小琴,朱和军.推拿灵巧手的设计及其位置分析与仿真[J].机械传动,2017,41(07):102-105. DOI： 10.16578/j.issn.1004.2539.2017.07.022.

Zhou Runsheng, Yin Xiaoqin, Zhu Hejun. Design of Dexterous Hand for Massage and Its Position Analysis and Simulation. [J]. 41(7):102-105(2017) DOI： 10.16578/j.issn.1004.2539.2017.07.022.

摘要

为了提高推拿机器人的自动化程度,完成了多自由度推拿灵巧手的结构设计和运动学分析。该灵巧手含有食指、中指、无名指和大拇指4只手指,每个手指拥有指掌和指指两个关节,食指、中指、无名指3只手指的两个关节分别联动,使得本灵巧手共4个自由度。此外,本灵巧手创新性地采用了曲柄摇杆机构驱动指指关节,有利于提高捏法操作中运动的连续性和周期性,避免电机的频繁换向,延长电机的使用寿命。利用MATLAB的数值分析和ADAMS运动仿真功能,验证了本灵巧手实现捏法操作的运动性能。

Abstract

In order to improve the automation degree of the massage robot,the structure design and kinematics analysis of a four fingered,motor-driven robotic hand for massage robot is completed. Each finger has two joints: the first joint and the second joint. And the degree of freedom of the hand is four by connecting the first joints and second joints of index finger,middle finger and ring finger respectively. In addition,the crank-rocker mechanism is creatively adopted to driven the second joint,which is conducive not only to enhance the continuity and the periodicity of pinching manipulation,but to also avoid frequent reversing the rotation of motor,prolonging the service life of the motor. At last,to verify the design,the model of dexterous hand is developed. The rationality and feasibility of the mechanism of hand are proved by ADAMS motion simulation and MATLAB numerical analysis.

关键词

推拿灵巧手仿真

Keywords

MassageDexterous handSimulation

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