绳驱动五指灵巧手的设计

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By studying the physiological characteristics of hands, a five-finger humanoid hand is designed based on the principle of underactuation and adaptability. The dexterous hand is a 16 degree-of-freedom hand using a rope-driven mechanism, featured a simple structure and light weight. Modes of movement and grasping performance of the dexterous hand is verified in grasp-ing experiments.通过研究人手的生理结构特点，模仿人手结构，应用欠驱动原理和适应性原理对五指灵巧手进行了初步设计。该灵巧手共有16个自由度，采用了绳驱动机构，具有结构简单、重量轻等优点。通过灵巧手模型的抓取实验，验证了其运动方式和抓取性能。