中文摘要：

针对当前存在的欠驱动假肢手手指机构拟人特性较差这一缺陷,通过综合耦合型手指在结构上的优势,引入能够使得各手指进行耦合运动的耦合连杆,提出了一种能够实现自适应包络抓取并具有较强拟人特征的新型三指节欠驱动手指结构,从而很好的弥补了欠驱动手在抓取过程中动作僵硬、耦合性差的不足。分析该手指的抓取过程,初步验证了该欠驱动手指完成包络抓取的可行性。根据虚功原理对手指的抓取静力学模型进行分析,得出完成包络抓取时各指节对物体的接触力,基于三指节手指抓取力尽可能均匀分布这一原则,建立手指结构优化的目标函数,利用matlab遗传算法工具箱对手指进行优化设计,得到满足上述原则的欠驱动手指机构的各杆件尺寸及抓取姿态。

英文摘要：

Aiming to the disadvantage of existing under-actuated prosthetic finger, which is lock of anthropomorphic characteristic,a new type 3-knuckle under-actuated finger mechanism,which can realize not only self-adaptive enveloping grab,but have strong anthropomorphic characteristic,is designed by importing coupling linkage as the advantage of coupling finger＇s structure. Each knuckle can do coupled motion with the coupling linkage,so it can make up the deficiency of under-actuated finger during grabbing excellently. This kind of finger＇s feasibility of accomplishing enveloping grab is verified through analyzing the grabbing process. By analyzing the finger grabbing statics model according to the principle of virtual work,contact force of each knuckle acting on object in enveloping grab state is obtained. Objective function of finger structural optimization is established on the basis of the principle that the distribution of each knuckle＇s grasping force is as even as possible. At last,each component size of the underactuated finger mechanism is acquired by the GA toolbox of Matlab applying to the optimal design of finger.