佩戴式灵巧手主手机械系统设计【12张图/10800字】【优秀机械毕业设计论文】

文档包括:
说明书一份,33页,10800字左右.

图纸共12张,如下所示.dwg
A0-总装配图
A1-手指部件图
A3-主手手背
A4-半月齿
A4-半月齿2
A4-齿轮支撑板
A4-齿条板1
A4-齿条板2
A4-齿条导轮板
A4-大拇指安装板
A4-导轮板
A4-小齿轮轴

毕业设计

题 目 佩戴式灵巧手主手机械系统设计

佩戴式灵巧手主手机械系统设计
摘 要
本文设计了一种五指输入的佩戴式灵巧手主手。主手可指挥机械手完成更为精密的任务，如定位、感知物体的质感等，并具有较高的效率，此外，还可以操作机械手在太空探索、核能开发等人难以适应的极端和精密微操的环境中以替代人手作业。该灵巧手具有符合人手结构的支撑骨架，外形与人手相似。我们根据人手结构，设计一种符合人手操作习惯，并且简单易于操作的主手。它采用类似齿轮齿条机构，通过与关节角位移成比例的延伸连杆长度的方法避免了主手手指弯曲时对操作者照成的干涉。该装置采用了反射式光电传感器和薄板式压力传感器，对操作者手指进行跟踪和压力测量。该主手单个手指的三个关节是关联的且由一个电机驱动，因此整个主手只能跟踪人手的自然弯曲过程，且具有较高的耦合性。

关键词：佩戴式灵巧手主手，传感器，操作者，机械手

The Design of Mechanical System of a Wear Type Dexterous Hand Master
Abstract 
In this paper, the design of a five-fingered wear type dexterous hand master is proposed. The dexterous hands can control slave hands to finish precise work with higher efficiency, such as fixed position and feel the material of a subject. What is more, it can replace people to work in some environment people can not work in it, such as dexterous micro operation and operation in extreme environments: space exploration, nuclear energy development. The dexterous hand master has a skeleton which is similar with human being’s. According to hand structure, we design a hand master which is simple and easy-to-use and in accord with hands habit. Our hand master is similar with rack and gear, it also avoid the interference when finger bends by extending the connecting rod which is proportional with joint angular displacement. The dexterous hand employs reflecting photoelectric sensor and plate type pressure sensor to track the finger of operator and pressure measurement. Three joints of each finger are parallel are driven by one motor. Therefore, hand master can only track the process of hand bending naturally and have higher coupling.

Key Words：Wear type dexterous hand; Sensor; Operator; Slave hand

目录

摘 要 i
Abstract ii
第一章 引 言 1
1.1 灵巧型触感交互装置的发展研究概况 1
1.1.1 感应手套 2
1.2 具有力反馈的主操作手 3
1.2.1 穿戴型机械手 4
第二章 灵巧手主手的设计概述 9
2.1 设计综述 9
2.2 灵巧手主手设计任务 9
第三章 灵巧手主手的设计 10
3.1 人手指关节 10
3.2 灵巧手主手指设计 11
3.2.1 被动式灵巧手设计 11
3.2.2 主动式灵巧手设计 11
第四章 灵巧手的控制 17
4.1 计算扭矩的模型 17
4.2 控制方法 21
第五章 总结与展望 23
5.1 总结 23
5.2 佩戴式灵巧手的展望 23
参 考 文 献 25
致 谢 26
附录 27