Structure Design And Design Of Flexible Multi-finger Dexterous Hand Perception System Research

With the continuous improvement of living standards,cars have become an important means of transportation for people’s short-distance travel.The production quality and assembly accuracy of car lights are very important to driving safety.Because of the thin texture of car lamp components,they are fragile and fragile.The surface of the lamp is mostly irregular and has different shapes.The assembly accuracy is high and the assembly is difficult.Manual assembly is low in efficiency and high in cost.Traditional manipulators used in production lines are mostly rigid grasping,which can easily cause scratches or even damage to the lamp components,lack of sensory feedback,and low assembly accuracy.Therefore,it is urgent to develop a flexible and dexterous hand suitable for car lamp assembly.Based on the project of "Development of practical multi-finger dexterous hands in service-oriented and industrial fields",this paper developed a flexible multi-finger dexterous hand suitable for car lamp assembly field,which promoted the application process of dexterous hands in automated production lines.First,through the comparative analysis of the schemes,the design scheme of fingertip particle blockage was determined.Two degrees of freedom of lateral swing are designed at the base joints of the little finger and index finger of the manipulator for reference.The airbag drive system provides the side swing force.With the aid of ABAQUS finite element analysis software,the mechanical properties and displacement of the airbag are analyzed,providing technology for airbag design.support.By studying the movement characteristics of the dexterous hand,the D-H parameter method is used to analyze the forward and inverse kinematics of the five fingers of the dexterous hand to determine the working space of the fingers of the dexterous hand.Secondly,in order to improve the perception ability of dexterous hands,a multi-array flexible tactile sensor was developed.The dexterous hand uses the tactile array information to obtain the dynamic change of the force direction of the object during operation and the real-time status information of the contact surface.The flexible array tactile sensor measures the size and distribution of the contact surface force with the target object to perceive the shape of the target object The characteristics,texture,surface roughness,and the combination state of the dexterous hand and the contact surface of the target object ensure the smooth operation of the dexterous hand to the greatest extent.Finally,a flexible dexterous hand control system is designed.The five-finger bending control unit and transmission unit adopt motor drive and tendon transmission respectively;the thumb side swing control unit and transmission unit adopt motor drive and connecting rod transmission respectively;the little finger and index finger side swing control unit and transmission unit adopt respectively The form of airbag drive and shaft drive.Adams simulation software is used to simulate the grasping operation of spheres,cuboids,and thin objects to ensure that the flexible and dexterous hands will not interfere in the process of grasping objects.Developed a dexterous hand and built an experimental operation platform for the dexterous hand.The experimental prototype performed experimental operations,completed typical gestures and realized multi-skill grasping operations,completed the lamp assembly experiment,and verified the reliability and stability of the flexible dexterous hand system.