Kinematic modeling and prototype test of flexible supernumerary robotic finger in grasping for the disabled
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摘要: 提出一种可与伤残手臂进行协同抓取的可穿戴柔性外手指系统，对其结构和样机进行设计。建立外手指弯曲和抓取物品的运动学模型，获得驱动绳拉伸位移、指节关节角、末段指节位姿间的正逆运动学映射关系；对柔性外手指进行动力学仿真，获得无负载手指末端运动规律；通过试验搭建，柔性外手指样机可实现1.7倍于本体的物体稳定包络抓取。试验验证了运动学建模和结构设计的合理性，具有一定的实用性。Abstract: A wearable flexible supernumerary robotic finger system capable of collaborative grasping with disabled arms was proposed, and its structure and prototype were designed. A kinematic model for supernumerary robotic finger bending and grasping objects was established, the forward and inverse kinematic mapping relationship between the stretching displacement of the driving rope, the joint angle of the finger joint, and the pose of the end finger joint were obtained. The dynamics of the flexible supernumerary robotic fingers were carried out through simulation, the movement rules of the unloaded finger end were obtained. Through experimental construction, the flexible supernumerary robotic finger prototype can achieve stable envelope grasping of objects 1.7 times larger than the body. It verifies the rationality of kinematic modeling and structural design, and has certain practicality.
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图 2 柔性外手指运动学参数间的映射关系
Figure 2. Mapping relationship between kinematic parameters of flexible supernumerary robotic finger
图 6 无负载动力学仿真中手指末端位移与时间变化曲线
Figure 6. Finger end displacement and time change curve in no-load dynamics simulation
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