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Strategy Study on Grasp Planning of Multi-Fingered Dexterous Hand

Author: ZhouRongZuo
Tutor: WangHai
School: Anhui University of Engineering
Course: Mechanical Manufacturing and Automation
Keywords: Multi-fingered dexterous hand Kinematics Dynamics Grasping planning Force-closure Form-closure
CLC: TP242
Type: Master's thesis
Year: 2013
Downloads: 22
Quote: 0
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Abstract


With the development of our society, people have more and more requirements to work and life. Robots can do many complex and dangerous works for human beings, and so at present research on robots become a hot topic. Multi-fingered dexterous hand as terminal equipment with flexibility, intelligence and easily-controlling, should be put forward when it is researched. This paper first summarized the development of multi-fingered dexterous hand; then designed the mechanical structure of a new multi-fingered dexterous hand and analyzed o its dynamic and static mechanical characteristics. Finally, path analysis of the grasp planning of the designed hand is discussed.Combining with the knowledge of bionics and the shape and acting features of human hand, the optimal design for the mechanical structure is exercised. The structure consists of one wrist, one palm and three fingers with three joints respectively. DC micro motor and tendon are adopted as the drive mode and transmission mode respectively. Several grasping modes are simulated with UG at last. The kinematic model is acquired based on the D-H function of multi-finger hand, then direct and reverse kinematic of the hand was discussed and simulated with MATLAB. The analysis model of contact force between finger and object at equilibrium condition was discussed. Combining the knowledge of geometry and mathematics, the mapping relationship between the center of finger and object is researched, and the kinematic equations of all fingers’center in the overall coordinate system are obtained.According to the hand’s grasping characteristics, the grasping planning analysis of the fingers in joints space and Cartesian space were studied respectively in different grasping stages.Finally, the concepts of model planning, grasping force planning, force closure, form closure, grasping force model, etc. are discussed. The grasping position is planned simply and the model planning of fetching is obtained. The model planning of grasping force under three-gingered fetching is researched. The minimum contact force is calculated mainly using penalty function and frictional restraint. The contact force is decomposed into operating force and grasping force, and then the two forces are analyzed in detail.At present, research about dexterous hand becomes a hot topic. Researchers hope the hand can complete exact and complicated task, improve its intelligence and expand its application areas. Research on intelligent dexterous hand involves many subjects and the development of the hand promotes the development of these subjects in turn.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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