【摘要】 【目的】机械手作为一种逐渐兴起的末端执行装置，在机器人技术中不可或缺，但现有的机械手的使用效果并不理想。为了实现复杂物体的抓取，有必要设计一种新型的工作空间更大、更易于控制的机械手。【方法】从折纸原理出发，结合Bennett机构设计了一类可以串联的折纸单元，并基于该结构设计了一种新型机械手，对机械手指采取模块化设计，使不同指节之间可以首尾串联、相互替换。【结果】该机械手采用单自由度设计，每根手指仅需单一驱动源。在抓取过程中，各指节间保持等角运动，能够形成圆形的包络曲线，实现对圆柱形物体的包络式抓取。同时，针对非圆柱形物体，该机械手可以采用指尖抓取的模式，具有良好的适应性。更多还原

【Abstract】 [Objective] As a gradually emerging end effector device, manipulators are indispensable in robotics technology, but the current use effect of manipulators is not ideal. In order to achieve the grasping of complex objects, it is necessary to design a new type of robotic arm with a larger workspace and easier control. [Methods] Starting from the principle of origami, a class of origami unit that can be connected in series was designed in combination with the Bennett mechanism. A new type of manipulator was designed based on this structure, and a module design was adopted for the manipulator fingers, so that different knuckles can be connected in series with each other at the beginning and the end, and can be replaced by each other. [Results] The manipulator adopts single-degree-of-freedom design, and each finger only needs a single drive source. During the gripping process, each knuckle maintains an equiangular motion between the fingers, which can form a circular envelope curve and realize the envelope gripping of cylindrical objects. Meanwhile, for non-cylindrical objects, the manipulator can adopt the fingertip grasping mode, which has good adaptability.更多还原