【摘要】 平行夹持是机器人手重要的抓取模式，但由于其末端指段沿圆弧轨迹运动，因此，机器人手在桌面上夹持物体时需要机械臂配合升降，从而增加了其对不同尺寸物体的抓取难度。针对此问题，介绍了一种末端指段呈直线轨迹平动的直线平行夹持模式；基于该模式，提出了一种基于霍肯连杆机构实现的直线平夹自适应手指（SHKL手指）。SHKL手指利用霍肯连杆机构实现末端关节直线运动，利用同向等速的双平行四连杆机构实现末端指段相对手掌姿态固定，利用弹性关节、弹簧和限位等实现自适应抓取。理论分析与实验结果表明，SHKL手指具有直线平夹与自适应抓取功能，抓取稳定，控制容易。更多还原

【Abstract】 Parallel pinching is an important grasping mode of robot hands. However, because the endphalange moves along the arc track,the robot hand needs the manipulator to cooperate with the lifting whenpinching objects on the desktop,which increases the difficulty of grasping objects of different sizes. To solvethis problem,a linear parallel pinching mode is introduced in which the end phalange is translational in a lin-ear trajectory. Based on this model,a SHKL finger,for linear parallel pinching and adaptive grasping basedon springs and Hoeckens linkage is proposed. The SHKL finger uses Hoeckens linkage to realize the linearmovement of the end joint,uses double parallel four-bar linkage with the same direction and speed to realizethe attitude fixation of the end phalange relative to the palm,and uses elastic joints,springs and limits to real-ize the self-adaptive grasping. The theoretical analysis and experimental results show that the SHKL hand hasthe functions of linear parallel pinching and self-adaptive grasping. Its grasping is stable and its control is easy.更多还原