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首页> 外文会议>2011 IEEE International Conference on Information and Automation >Mechanical structure of intelligent underwater dexterous hand
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Mechanical structure of intelligent underwater dexterous hand

机译：智能水下灵巧手的机械结构

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In order to realize the requirements of underwater partly automatic work, the research group developed an underwater working dexterous hand. This dexterous hand adopted three fingers and six joints. The six joints were all driven by fluid power, among which three root joints shared one fluid motor, and the other three finger joints were driven by three fluid cylinder respectively. In order to obtain comparatively comprehensive information on the operating environment, the dexterous hand installed a six-dementional wrist force sensors, three four-dimensional finger force sensors, three ultrasonic sensors, and one vision sensor. This article focused on the mechanical structure of the dexterous hand and equipment of sensors.
机译：为了实现水下部分自动作业的要求，研究小组开发了一种水下工作灵巧手。这只灵巧的手用了三个手指和六个关节。六个关节全部由液压驱动，其中三个根关节共用一个液压马达，其余三个指关节分别由三个液压缸驱动。为了获得有关操作环境的比较全面的信息，灵巧的手安装了一个六维腕力传感器，三个四维手指力传感器，三个超声传感器和一个视觉传感器。本文重点介绍灵巧手的机械结构和传感器设备。

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