Design And Research Of The Piano Humanoid Robot Hand

Humanoid robot hand is a key part of the service robot. The flexible and coordinated movements of the robot hand are very important to complete the service task for the nursing robot, massage robot and entertainment robot. This paper is combined with the science and technology research project of the Education Department of Jilin province with the name of "Research of the control system of piano humanoid robot hand". On the base of deep research on the working principle, the current situation and development trend of domestic and foreign research of the robot, the piano manipulator is designed in this paper which is drived by the gas. The manipulator can be used to play the piano for the perfect mechanical structure and the control software system.Through the research on the piano anthropomorphic manipulator, an anthropomorphic humanoid robot hand is designed with multi-degree of freedom. The innovative design of the joint embedding spring finger is designed by the cylinder, relief valve and the control system. ANSYS software is used to do the finite element analysis. The statics analysis of the key components of the anthropomorphic manipulator is done through the data sharing of CATIA software and ANSYS software.The optimal design is carried out. ADAMS software is used to do the dynamic analysis. Speed curve is gotten by adding motion simulation using ADAMS dynamics simulation. The microcontroller programming is designed to realize the finger bending motion through controling the cylinder. The control system software is developed for the identification, input processing and output processing to achieve the music.The piano manipulator designed in this paper has the advantages of novel structure, good flexibility and simple mechanism.This manipulator can be used not only to play the piano, but also can meet the field of bionic performance requirements of the manipulator.