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Structure Design and Performance Analysis of a New Pattern Dexterous Hand

Author: XiangHongBiao
Tutor: ZhangGuoXiong
School: Tianjin University
Course: Measuring Technology and Instrument
Keywords: Multi-fingered dexterous hand Structural Optimization UNDERACTUATED Kinematics Statics Trajectory planning
CLC: TP241
Type: Master's thesis
Year: 2007
Downloads: 323
Quote: 6
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Abstract


Along with the increasing emphasis on rehabilitation engineering , manufacturing a new type of prosthetic hand dexterous hand to overcome past deficiencies , to maximize the patient's forearm to restore function, so that people with disabilities into society has a very important practical significance. Meanwhile, the dexterous hand in aerospace, precision machinery , military , industrial, medical equipment and other fields also have a wide range of applications. This research status at home and abroad on the basis of in-depth analysis of the new multi- fingered robot hand structural optimization design and performance analysis and research. First, from the perspective of bionics to staffing structure and parameters for the design basis for the multi-fingered dexterous hand structural elements were optimized . This article focuses on a new dexterous hand UNDERACTUATED single finger tendon cross design, structural design as well as thumb ring finger and little finger design . SolidWorks software uses a multi- fingered robot hand for three-dimensional modeling, the realization of the dexterous hand grip and lateral grip action simulation . For the design of dexterous hands to establish a kinematic model is derived kinematics , inverse kinematics equation , and the workspace dexterous hand speed and static analyzes , calculated through the statics of the joints under static equilibrium torque . Trajectory of the finger is analyzed , using MATLAB software fingers of the robot hand in the coordinate system and posture trajectory simulation, analysis of the trajectory of the relationship between the fingers and the joint parameters to be optimized. Compared the joint space and Cartesian space planning advantages and disadvantages for specific subjects , respectively, in different positions adopted in the joint space and Cartesian space research trajectory planning problems, make the dexterous hand can achieve the object of accurate , stable crawl .

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