The Structure Design And Performance Research On 9-DOF 3 Fingers Dexterous Hand With Link Actuating

The thesis concerns the issue of robot dexterous hand. Above deep analyzing the present research from home to oversea, two theories are discussed on 9-DOF 3 fingers dexterous hand, which include optimum design of structure and grasp performance.First, every element of structure design of robot dexterous hand is discussed and demonstrated in detail. The actuating mode is not only the key of structure design but also the difficult point. After analyzing the traditional actuating mode this thesis gives a new structure of dexterous finger with link actuating, and the new structure shows more advantages than the old one's.Second, the kinematics of the finger's equivalent mechanism is set up. For the moving continuity of the dexterous finger, the change point of the finger mechanism needs discussing. Some kinetic parameters are designed such as the kinetic zero point and the range of motion.The performance of the finger mechanism has the direct relation with the size of the links. The thesis studies performances of the new dexterous finger such as workspace, performance of dexterity, performance of velocity and force payload etc. Some indexes are defined and some performance atlases are described. For these intuitionistic graphs, the optimum point is found in the solution space as to determine the length of the finger's every link. Then pick up a point to design the dexterous finger's prototype.The thesis designs the prototype of the dexterous finger. The joint design is the key of dexterous finger's prototype. Some train of thoughts and drawing of important parts of the finger's prototype are provided. Through optimizing the distance between every two fingers, locating the three fingers on wrist reasonably, an integrated dexterous hand comes out.Finally, grasp styles of dexterous hand are generalized by investigating the process of human grasp. The thesis analyses the kinematics of dexterous hand, induces the Jacobian matrix. The artic emphasizes some attention on the grasp stability and grasp dexterity of the dexterous hand, and provides someperformance atlas. These atlases will be used to judge the grasp performance of the 3 fingers dexterous hand...