张艳华 李嘉鹏

摘要：仿生机械手是现代工程作业的重要工具，在装备制造、石油勘探、高空架设等诸多行业可代替人类完成重要的工作。在对人类手掌进行数据采集的基础上，以手骨为连杆，以筋为驱动，设计了一款仿人手形状机械手。利用 SolidWorks完成建模组装，并使用运动算例进行仿手形机械手的运动仿真，再利用 SolidWorks里 Simulation插件对食指进行有限元分析，从而得到最优的设计方案。最后结合3D打印技术将设计数据转化为实际可行的 ABS材料仿手形机械手模型。该机械手由连杆机构组成，具有和人手相似的外形和尺寸，通过5个二次原动机（舵机）带动各手指机构完成手指的屈伸运动，可实现“爱你”“OK”等手势动作。结果表明，机械手设计合理，能运动灵活且可完成各种动作，满足设计要求，食指最大可钩住约20 N的重物。

关键词：机械手;仿手形;SolidWorks;运动仿真;有限元分析;3D打印

中图分类号：TP241文献标志码：A文章编号：1009-9492（2021）11-0175-04

Design Simulation and Physical Verification of Manipulator with Imitative Hand

Zhang Yanhua，Li Jiapeng

（Department of Electromechanical Engineering， Guangdong University of Science & Technology， Dongguan， Guangdong 523083， China）

Abstract： Bionic manipulator is an important tool in modern engineering work， which can replace human beings in many industries such as equipment manufacturing， oil exploration and high altitude erection. Based on the data collection of human hand， a manipulator with the shape of human hand was designed， which was driven by the hand bone and the rib. The model was assembled by SolidWorks， and the simulation of the manipulator was carried out by using the motion calculation example. Then， the simulation plug-in in SolidWorks was used to analyze the forefinger by finite element method， so that the optimal design scheme can be obtained. Finally， the design data was transformed into a practical and feasible model of ABS manipulator based on 3D printing technology. The manipulator is composed of connecting rod mechanism， which has the similar shape and size as the hand. It can achieve the gesture action of "love you" and "OK" by driving each finger mechanism to complete the finger flexion and extension movement through five secondary prime motors （steering gear）. The results show that the manipulator is reasonable in design， flexible in motion and can complete various actions， and meets the design requirements. The index finger can hook up to about 20N heavy objects.

Key words： manipulator; imitating hand shape; SolidWorks; motion simulation; finite element analysis;3D printing

0 引言

機器人技术是当今世界上最热点的技术[1]，随着工业生产的进步，机器人已被广泛用来代替人类完成一些简单和重复性的工作。机械手自20世纪60年代初问世以来，经过60多年的发展，目前已成为机械制造业自动化生产中重要的机电设备。由于仿生机械手具备像人手一样的5个手指和手掌，具有更强的灵活性和功能性，因而其可以代替人手在很多场合完成各类复杂和灵巧的操作，例如医疗手术、设备安装与维修、家务劳动等[2]。仿生机械手已成为现代工程作业的重要工具，所以研究仿生机械手臂具有重要的意义[3]。……