Design And Verification Of Highly Simulated Humanoid Robot Hand

Humanoid robot is a new kind of intellectual flexible robot who can meet users’ various need, and the robot has human-like appearance and base function to take place human labor. The most important execution tool of humanoid robot like human is a pair of hands. According to an analysis of research status of dexterous hands, this article is aimed at functional robot dexterous hands go with the problem that too complex to control. By analysis of human hand skeletal musculature and inspired from it, in this paper, a under-actuated design of robot hand driven by string is proposed after study on string drive and differential action. Using a self-adaption structure and under actuation to make the mechanisms intelligent, then we have an advanced robot hand with high flexibility and low control difficulty.At the very beginning, an analysis on function topology and driving structure of human hand is studied. Features which are inspiring are extracted, after refinement they become mechanism. Which makes the robot hand imitate human hand on function level.After that, by using the facts and theories above, a kind of robot hand with ability to adopt object’s shape which use S shape string drive structure and differential action as core technology is designed, analyzed and optimized.At last, a series of simulation experiments from one finger to whole hand were carried out. Experiments proved this kind of dexterous hand and structure of finger are able to adapt to different objectives, which realized the design target, and make the mechanism intelligent.