Design, Simulation And Prototype Development Of An Underactuated Robot Hand

Dexterous hand is an important part of a robot.The robot hand has the good performance and the high personification degree,generally should have the more joint freedom.On the other hand,in order to reduce the control difficulty of humanoid robot hand and reduce the volume and weight of hand,it is necessary to reduce the number of drives as far as possible.Using underactuated finger mechanisms with less than joint degrees of freedom to design robotic fingers can meet both requirements and enable robotic fingers to crawl objects of different shapes and sizes adaptively.The underactuated finger mechanism 'becomes therefore an important research direction of the robot dexterous hand.The finger of underactuated robot can be realized by means of tendon drive,friction wheel or linkage mechanism containing elastic element.One of the tendon-driven or friction-wheel-driven fingers can only achieve a smaller grip.In order to realize the compact and large grasping force of the humanoid finger,to design the robot finger is useful.But at present,all kinds of links in the literature of the various link-type underactuated many fingers,there are institutions complex,large volume,manufacturing and maintenance costs high disadvantages.At present,the analysis and design of underactuated finger mechanism and the research on the robot hand for connecting rod-type full rotation joints are still scarce,and the method of producing the prototype at lower cost by means of 3D printing is less,so further research is needed.The specific research contents are as follows:1.Research and simulation of underactuated finger mechanism.The paper researched each phase based on derivation and completes the design of this finger mechanism.And complete the figure 1-1 i)as shown in the full rotation joint connecting rod type underactuated finger mechanism size design.The mechanism performance simulation is realized by Solidwork and the static and dynamic simulation of the mechanism and the prototype is carried out by using the Motion analysis module.The performance of the prototype is tested by grasping experiments of different shapes and sizes of objects.The performance of the verification mechanism is analyzed by the experiment of using different parameter springs under the same holding state.2.The design method of three finger robot handAccording to the finger size,the three-finger robot hand platform is developed by bionic Method and the transmission scheme is determined.On the basis of simulation,the motion of the platform is fully interfered and contacted.By studying the 3D printing principle based on molten stacking technology,a kind of production scheme which can satisfy the principle is designed.Three-fingered robot hand prototype was made by 3D printing technology.3.Development of three finger robot hand prototypeAccording to the actual size of the selected electrical system,the three-fingered robotic hand platform is designed to meet the size and the transmission scheme is determined.On the basis of simulation,the motion of the platform is fully interfered and contacted.By studying the 3D printing principle based on molten stacking technology,a kind of production scheme which can satisfy the principle is designed.Three-fingered robot hand prototype was made by 3D printing technology.4.Electrical system and related program designThe electrical system is related to the preparation of procedures.The different arrangement,size and position of different objects were carried out.The performance of the finger is verified according to the sensor feedback data.