3D打印仿人机械手手指的运动特性分析

Proceedings of the 22nd International Conference on Computer Systems and Technologies Pub Date : 2021-06-18 DOI:10.1145/3472410.3472434

I. Chavdarov, Ivaylo Georgiev, Lyubomira Miteva, R. Trifonov, G. Pavlova

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引用次数: 1

摘要

介绍了3D打印仿人手的研究进展。介绍了一种将手指完全组装起来打印的原始想法。利用开放运动链的概念研究了仿人手手指的主要运动特性。实现了一种确定手指工作空间和可操作性等主要运动特性的算法。所有手指的结果，不包括拇指，描述和比较使用他们的平均尺寸和关节约束。讨论了所提出的研究的效益和适用性，以及3D打印技术的应用。

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Analysis of the kinematic characteristics of a 3D printed finger of robotic humanoid hand

The development of 3D printed humanoid hand is presented in this paper. An original idea of printing the fingers completely assembled is introduced. Main kinematic characteristics of finger of humanoid hand are researched using concepts of open kinematic chain. An algorithm for determining the main kinematic characteristics of the finger, such as workspace and manipulability, is implemented. The results for all fingers, without the thumb, are described and compared using their average size and joint constraints. The benefits and applicability of the proposed research are discussed, as well as the application of 3D printing technology.

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Proceedings of the 22nd International Conference on Computer Systems and Technologies

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