Research On Mechanism Design And Control System Of The Underactuated Five-Finger Dexterous Hand

With social progress and the development of science and technology, the study of multi-finger dexterous robot hand has become the object of study in many colleges. Mechanical structure, The driving and control scheme of the dexterous hand is still th e most core topic. Study of imitation mechanical hand has concentrated mechanism, c ommunication science, control theory, electrical and electronic and many other professi o-nal content, which makes the humanoid manipulator system too complex. In this pap er, on the basis of summarizing the predecessors’ research work design a kind of unde ractuated dexterous hand based on tendon rope transmission, through the use of the un-deractuated institutions and tendon rope transmission scheme, implementation of fetchi-ng the adaptability of content, which make the underactuated finger dexterous hand is more like a human hand in working.This paper was studied the following four aspects:(1) According to the physiological characteristics of a man’s hand, analyzes the degree of freedom and movement characteristics of the whole hand, establishs the prin ciple diagram of dexterous hand mechanism model.(2) The design of the dexterous hand with the main operator of mechanical syst em. Firstly, designed dexterous hand mechanical system which use the motor with hall encoder to drive and Straight gear and worm and worm wheel the combination of tran smission, which makes the transmission has irreversible effect, also makes the structur e more concise, flexible motion, large output torque, the control scheme is easily real ized. Secondly, this paper introduces the use of tendon rope driven single joint mecha nism principle, discusses the motion characteristics of the institutions, put forward a ki nd of tendon rope order driven method of finger joint movement, using MatLab Rob otics Toolbox of finger movement space simulation and analysis, the results show that this method makes the underactuated finger dexterous hand with a larger space. Final ly, the main operator of the mechanical structure, mathematical modeling is presented, and the use of ADAMS motion is carried out for the mechanical structure of the mas ter manipulator mechanics analysis.(3) The dexterous hand control system were designed. Introduces the main opera tor signal acquisition circuit and programming basic ideas, and respectively from the a spects of software and hardware of control system of a dexterous hand with underactu ated finger do the details.(4) In the experiment, motor control, serial communication, joints, signal acquisit i-on and dexterous hand based test platform of integrated control test, the test results show that the designed preliminary achieve the finger motion control of the dexterous hand, and the mechanical system and control system runs stably and reliably.