多指护理灵巧手的优化

Abstract

Optimizational analysis of dextrous robot hands is carried out by seven factors: pair of finger,number of finger and palm,structure of finger,the way of finger’s drive and transmission,structure of finger’s cross section,as well as selection and diaposition of sensors.Considering generality and universality,some theoretic optimational calculation towards relative position and posture between fingers,length of every finger-joint,range of revolving finger-joint were quoted.By the way of bionics analogism and optimizational function,an object function and bound for objective function were created.And a kind of dextrous hand with palm,three fingers and nine finger-joint is designed.The 3D structural model of dextrous robot hand is also given.Robot hand which has been optimized expands the application.Nursering robot which is equipped with optimized dextrous robot hand can alleviate nurses’ labor,and it can improve nursing quality.