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仿生人手的构造和功能,设计了ZSTU拟人灵巧手并进行了运动学和动力学仿真。内置型ZSTU拟人灵巧手由伺服电机驱动,手指的结构和布置接近真实手,每个手指有4个自由度。先构建了ZSTU拟人灵巧手的虚拟样机,依据机器人运动学和动力学原理,进行了多种手势、抓持操作、单指工作空间的运动学仿真和手指动力学仿真。仿真结果表明:ZSTU拟人灵巧手结构合理,有较大工作空间,可实现多种灵巧操作。
The structure and function of bionic human hand, ZSTU humanoid dexterous hand designed and kinematics and dynamics simulation. The ZSTU built-in dexterous hand is driven by a servomotor. The fingers are constructed and arranged close to the real hand, with four degrees of freedom per finger. Firstly, a virtual prototype of ZSTU artificial dexterous hand was constructed. Based on the kinematics and dynamics of robot, a variety of gestures, grasping operations, kinematics simulation and finger kinematics simulation of single finger workspace were carried out. The simulation results show that the ZSTU artificial dexterous hand has a reasonable structure, a large working space and a variety of dexterous operations.