類人手手指關節式腱驅動機構之運動模型建構與運動合成

Kinematic Modeling and Synthesis of a Human Finger alike Articulated Tendon-Driven Manipulator

游超智(Chao-Chih Yu)

指導教授 ： 陳達仁

國立臺灣大學/工學院/機械工程學研究所/碩士(2009年)

https://doi.org/10.6342/NTU.2009.10078

摘要

本研究之主要目的是針對人手指建構一個類人手指關節式腱驅動機構運動模型，此運動模型符合腱驅動機構的設計條件與手指的解剖構造，並且能代表手指在運動與構造上的特徵。在解剖學與肌肉力學中，有介紹人手指指骨與關節的運動構造與描述肌腱主要的功能，因為手指的構造與運動十分複雜，本研究為了簡化建構模型的過程，以解剖學為基礎，將對手指構造提出合理的運動假設，將人手指不同的運動功能視為獨立。並在主要運動功能的方向上，建立一個類人關節式腱驅動機構的運動模型，可用來表達人手指在該運動方向上的構造。本研究將從類人關節式腱驅動機構的運動模型，找出腱驅動機構的構造矩陣，同時藉由構造矩陣須滿足的特性，獲得關節式腱驅動機構的滑輪尺寸大小特徵，並與解剖量測的結果做比對。研究最後藉由腱驅動機構達到等方向傳遞特性的條件，可以合成關節式腱驅動機構的滑輪尺寸。此研究結果將有助於類人機械手指的設計與了解手指的構造特徵。

關鍵字

腱驅動機構 ； 構造矩陣 ； 等方向傳遞特性 ； 類人機械手指

並列摘要

The purposes of this research are modeling a human finger alike articulated tendon-driven manipulator which can represent human finger on kinematic structure, and finding out the kinematic characteristics of human fingers. By studying anatomy and muscle dynamics, this research has recognizing the tendon position and function, and the connection with phalanx and joint. This research assumes the motions of human fingers are independent, than the kinematic structures of finger can be simplified. In accordance with these assumptions, the kinematic model will be created. This model could present the major function and kinematic of human fingers and find the characteristics of pulleys of tendon-driven manipulator by studying the structure matrix of this kinematic model. Finally this research synthesize the pulleys of dimensions tendon-driven manipulator using the condition of isotropic transmission characteristics. This research establishes design criteria for finger alike articulated manipulator.

並列關鍵字

tendon-driven ； structure matrix ； isotropic transmission characteristics ； finger alike articulated manipulator

參考文獻

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