Research On Anthropomorphic Operation Planning Method Of Multi-fingered Dexterous Hand

The multi-fingered dexterous hand,as the end effector of the robot,is an important part of the robot.It has a high degree of dexterity and operability,and has always been one of the research hotspots in the field of robotics.At present,most of the research on multi-fingered dexterous hands focuses on the development of dexterous hand structures and the planning of grasping movements.The research on the precise operation movements and repositioning analysis after grasping has not been fully developed.Establishing a certain operation motion plan can realize multi-fingered dexterous hands to manipulate objects of different shapes as dexterously as human hands.Therefore,studying the fingering process and motion model of fine finger manipulation is of great significance to the development and application of smart multi-fingered hand.This thesis analyzes and studies the operation motion planning problem of multi-fingered dexterous hands,designs the finger motion kinematics,establishes the finger motion kinematics model,and simulates and experimentally verifies the simulation platform independently developed by Open GL The correctness of the theoretical model.The main research contents of this article are as follows:(1)This studies the rules and operation strategies of the process of grasping and operating the object by hand.As the inspiration source of dexterous multi-fingered hand,human hand can complete many complex operation movements,analyze the habit mode and existing regularity of human hand operation process,put forward the motion finger state suitable for manipulator operation,and deduce the corresponding theoretical model.In order to reduce the dimension of specific tasks,it is subdivided into many sub tasks,and the whole motion process is "built-up" and divided into multiple action modules as the basis of motion when operating different target objects.(2)The mathematical model of multi-fingered dexterous hand is established.This thesis analyzes the structural characteristics of dexterous hand itself,and studies the relationship between fingertip and finger joint angle position when dexterous hand operates objects,including forward and inverse kinematic models and finger reachablespace,which provides theoretical basis for subsequent operation planning research.The operation modeling of multi-fingered dexterous and target objects is simplified and abstracted.The operation habit and finger state of human hand are integrated into the model of multi-fingered dexterous hand.The fingertip trajectory is designed for different shape target objects,and the theoretical model is established.(3)The operability index of fingers is discussed,and the algorithm of generating different finger modes is proposed.Considering the preconditions of the fingertip moving completely off the surface of the object,based on the evaluation index and the velocity mapping relationship between the object and the joint,two algorithms under different finger modes are generated for different initial finger states.(4)The finger is modeled and the motion process is simulated with the simulation platform developed independently.The experimental results are in good agreement with the theoretical analysis,which verifies the validity and accuracy of the motion model of the object operated by three fingers.The results of the above research show that the operation finger state and basic theoretical model established in this thesis can accurately describe the process of hand fine operation of simple objects.The research results provide a preliminary theoretical basis for the further development of multi-fingered dexterous hands and fine operation of complex objects.