The Finger Joint Structure Design And Kinematics Analysis Of High-Simulation Anthropomorphic Robotic Hand

As the science and technology developed,the demand of high-simulation anthropomorphic robotic hand is increasing,which makes the research of anthropomorphic manipulators advance steadily.Based on the anatomical structure of the human hand,this paper designed an elastic hinge finger joint with similar biological characteristics as the human hand,and conducted kinematics-related analysis and research on the robotic hand,which aimed at maximizing the simulation of the human hand by the anthropomorphic robotic hand.The robotic hand had the motion characteristics closer to the human hand,laying the foundation for the realization of subsequent effective control and wide application.First,in order to understand the biological characteristics of human hand with high flexibility,mastered the anatomical structure of the human hand,deepened the understanding of the structure and function of the human hand,and based on the real human hand skeleton,designed the structures of the interphalangeal joints,metacarpophalangeal joints,and carpometacarpal joints by analyzing their internal biological characteristics.UG software was applied to build 3D modeling of the finger joint and the structure of the anthropomorphic robotic hand.And then,according to the tendon distribution of the anatomical structure of the human hand,the principle of joint cooperative movement was analyzed,and the tendon rope arrangement of the anthropomorphic robot hand was completed.The anthropomorphic robotic hand structure was 3D printed and assembled,and the laboratory sample model of the anthropomorphic robotic hand was completed.Secondly,the kinematics analysis of the anthropomorphic robotic hand was carried out.Taking a single finger as an example,the forward and reverse kinematics analysis was used to obtain the relationship between fingertip position and finger joint movement,completed kinematics verification by MATLAB,and obtained fingertip working space according to Monte Carlo method.To achieve the grasping movement of the anthropomorphic robotic hand on the stuff,the multi-finger kinematics was analyzed,and the relationship of the fingertip position and the joint position of each finger in the reference coordinate system was solved.In addition,considering the influence of the elastic components introduced in the anthropomorphic robotic hand finger joint structure on the kinematics,the position and posture error of the fingertip position relative to the base coordinate system was analyzed to obtain accurate actual fingertip pose.Finally,the grasping movement of the anthropomorphic robotic hand was studied.On the basis of kinematic analysis,statics analysis of the grasping movement of the anthropomorphic robotic hand was carried out to obtain the static torque required by each joint when the anthropomorphic robotic hand grasps the object.The finger’s dynamics had been studied by the Lagrange equation method,and the relationship between the joint torque and the displacement,velocity,and acceleration of each joint was obtained.The trajectory of the grasping movement was planned and simulated based on fifth-order polynomial interpolation,and then the joint dynamics simulation based on ADAMS and MATLAB was carried out on the single finger to verify the correctness of the dynamic equation.Finally,the selection of each joint drive motor is completed,and the control parameter table was provided for the grasping movement of the anthropomorphic robotic hand for the realization of subsequent further control.