| Hand is one of the most important parts of human body. With the development ofmedical science and robotics, the rebuilding of body movement function is more and moresignificant for amputees. Prosthetic robotic hand is now a hot area of robotics. Finger isthe basic part of hand, so the quality of finger plays an important role in the performanceof prosthetic hand. In recent years, with the advantages of few drivers, light mechanismand low energy consumption, under-actuated mechanism is used in prosthetic fingers. Butthere is not an experiment environment especially for under-actuated finger design. So thedesign of an experimental platform for under-actuated prosthetic finger is very important.In this thesis, an experimental platform for under-actuated prosthetic finger isdesigned and introduced. An under-actuated prosthetic finger with three joints driven bysteel wire rope is chosen to be the object of this study. This platform is composed ofmechanical structure, control system and motion capture system. Stepper motor is used todrive the slider on linear guide and control the movement of the finger. The control systemis centered in TMS320F2812, which control the movement of stepper motor through themotor driver. The motion capture system is produced by VICON, a British company. Inthis platform, six VICON Cameras are used to capture the movement of prosthetic finger,and by doing this, the platform can analysis the grab performance and the motion trail ofthe under-actuated prosthetic finger.In this thesis, firstly, the background and significance of this study is introduced, then,the mechanism, control system, motion capture system and data processing system areintroduced. To confirm the function of this experimental platform, the one-finger freemovement experiment is accomplished. From the result of the experiment, we can makethe conclusion that this experimental platform provide a practicable method to test andoptimize the performance of under-actuated finger. |
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