【摘要】 欠驱动机械手结构简单、成本低、易于控制、自适应能力强，但欠驱动机械手是通过机械限位与弹簧约束来完成抓取，抓取稳定性差，无法输出较大的指尖抓取力.本文提出一种新型的指尖可自锁的欠驱动三指机械手，在抓取时远指节与中指节可实现自锁，增加了抓取的稳定性.同时建立了单指的D-H运动学模型，利用MATLAB分析了机械手的工作空间，对手指进行了静力学分析，利用ADAMS软件对机械手进行仿真分析，最后进行抓取测试，结果表明指尖自锁机械手能输出更大抓取力，从而验证了指尖自锁机械手结构的合理性与可行性.更多还原

【Abstract】 The underactuated manipulator has the advantages of simple structure, low cost, easy control and strong adaptive ability. However, the underactuated manipulator relies on mechanical limit and spring constraint to complete the grasp, resulting in poor grasping stability and inability to output greater fingertip grasping forces. Accordingly, a new underactuated three-finger manipulator with fingertip self-locking is proposed. The distal knuckle and middle knuckle can self-lock when grasping, which increases the grasping stability. At the same time, the D-H kinematic model of the single finger is established, the working space of the manipulator is analyzed by MATLAB, the finger is analyzed by statics, the manipulator is simulated by ADAMS software, and finally the grasping test is carried out. The results show that the self-locking manipulator can output greater grasping forces. Thus, the rationality and feasibility of the structure of the self-locking manipulator are verified.更多还原