仿人手五指机械手的发展现状

Review of Humanoid Hand Five-Finger Manipulator

摘要: 仿人手五指机械手在残疾人假肢、远程手术操作、精细微操作等方向上有着广泛的应用前景。为仿人手五指机械手的设计提供依据和参考，设计出合适的仿人手五指机械手，本文按驱动方式的不同，分别介绍了绳索驱动型、连杆驱动型、气压驱动型和关节电机驱动型等种类的五指机械手的工作原理和典型代表。最后，分析各种仿人手五指机械手的优缺点，并给出了其各自的应用方向。

Abstract: The humanoid five-finger manipulator has broad applications in the direction of prosthetic limbs, remote operation and fine micro operation. In order to provide the basis and reference for the de-sign of the humanoid five fingers manipulator and design an appropriate humanoid five fingers manipulator, according to the different driving modes, this paper introduces the working principle and typical representative of a variety of five-finger manipulator, such as rope drive, connecting rod drive, pneumatic drive and joint motor drive. Finally, the advantages and disadvantages of all kinds of humanoid five fingers manipulator are analyzed, and their applications directions are given respectively.