Designing And Research On The Grasping Algorithm Of The Telerobot System And Multi-Fingered Dexterous Robot Hand

Telepresence is the core of human-machine interaction. In a teleoperation system with telepresence, information including vision, force, tactility, approach, cold-hot sensor, motion of the remote slave robot and its environment are feedback to the local operator and make the operator feel being in the real environment, so that he can perform telemanipulation task effectively. The teleoperation works in the interactive mode has great practical value and theoretical importance. Telerobot system is an effective measure for working in the hazard, dangerous or remote environment. As the executing mechanism of slave robot, the grip must be assembled on the wrist, so it must to be little volume, little height, multi-sensor, and operates credibility. So it is difficult to design.In this thesis, we worked on remote teleoperation robotics system, which is a part of the project of distributed and active model building on force/ tactility, which is funded by the national nature sciencific technology foundation, and it is also a part of the project of vitual environment model building reseach on teleprecent robot based on mutisensors information fusion which is funded by the HuoYingdong education foundation. Main work in this thesis focus on muti-finger dexterous hand of slave robot, including mechanical design, circuit of sensors design, the hardware and software design of control system, multi-sensors information fusion, mechanical simulation of three-finger hand, and the grip strategy study.Firstly, in the thesis, the teleoperation robot experiment system built up by our research group is introduced, a dynamic analysis of the robot by using mathematics meathod based on robot dynamics is made, and the dynamic positive resolution & reverse resolution of Motoman-SV3X industrial robot is deduced. Secondly, the designing method of the three finger-six joint smart gripper with vision, force, tactility, approach, cold-hot sensor, motion is described in detail in this thesis, including mechanism design, the hardware and software design of PSoC processor, sensors and measuremental circuit design, drive and protect circuit design, and the system software design of the computer. Then the multi-sensors fusion reseach and mechanical simulation has been done based on the desined three-finger hand. Lastly the grip strategy of grasping is given.