Analysis And Evaluation Of The Minimum Grasping Forces Of Dexterous Hand

How to calculate the optimal solution of N points grip irregular objects is a public challenge in the Manipulator’s Grip research field. In this paper, be aimed at N-point Gripping any object,we conducted the following studies: The holding’s stability、The Optimum grasping force and verify. Combining the grasp stability theory,the judgment process of grasping stability is presented,then we introduced a model for calculating the minimum grasping force based on physics, Finally, by analyzing results of application experiments we proved the model could addresses the minimum holding force of Multiple grasping objects.The main contents of the paper are listed as follows:In chapter one, research the Optimum grasping force of N-point gripping any object is simply discussed. Based on the previous research results at home and abroad, introduced the research background, significance, status, theoretical innovation and key difficult point. Identify the method, goal and content of the research.In chapter two,firstly we derivations of the model for calculating the minimum holding force based on physics. Secondly, based on force-closure and form-closure we summarize the relationship between grab closure character and grab stability. Finally we summarized the process of grasping stability judgment.In chapter three,we discuss the prediction model for calculating the minimum holding force based on experiments. We build a human hand grasp force measurement platform based on the Tekscan Grip devices, confirm experimental steps, and seriously record the measured data of human hand grasp force and robot manipulators grasp force. Results of an experimental testing prove that the theoretical calculating values match well with the experimental measuring values. It is proved that this computing mode has a high accuracy and stability.Using our computing mode and Others computing mode were compared and analyzed in chapter four. By compared the results,we discuss the computing mode’s authenticity and accuracy,, and analyzes the reasons.Chapter five describes the basic functions and executive process of the calculation programme based on the model for calculating the minimum grasping force. Include the calculation of key parameters 、software interface and the relevant functions of this software.The conclusions of this paper and future works are listed in chapter six.