Underwater Dexterous Hand With Force Sense

With the extension of the application area of the underwater robot in exploration, salvage, pipe detection, repair activities, and so on, it shows higher and higher requirements for the delicate operation of the robot. Thus, many robot researchers of different countries are paying attention to the development of an underwater dexterous hand with sense function.The project is funded by Heilongjiang Natural Science Foundation, which is "The research on the basic technology of underwater multi-fingered dexterous robot hand". In this project, the key technologies of the underwater dexterous hand with force sense are studied. The aim is to develop a multifunction hand fixed on the underwater robot arm, which can enlarge the operation area while cooperating with the arm. It has great theoretical significance and applied value on improving the operating ability of the underwater robot and intelligentizing the operating process. It has great perspective on future ocean exploitation..The current situation about dexterous hand, underwater mechanical gripper, force sense technology, force control technology, at home and abroad is summarized in this dissertation.Referring to the experience of dexterous hands in the air and special condition, the whole scheme of three-fingered underwater dexterous hand with nine DOF(degree of freedom) is presented, including mechanical structure, sensor system and control system. The seal structure is designed and the efficiency of this pattern is analyzed. Optimization design makes the structure of the underwater dexterous hand more reasonable, and the ability of the hand is improves ultimately. The sensor system is developed including joint position, fingertip force and vision. Furthermore, distributed control system based CAN bus is designed using bionics principle, which increases the reliability and maintainability on the premise of communication velocity.Fingertip force sensor is the key element which insures the force control and intelligent grasping. The sensor is used to perceive the force and position between the finger and object. The structure of the underwater fingertip force sensor is...