Research On The Control And Sense System Of Three-finger Dextrous Hand

This paper introduced the control system of the three-fingered dexterous hand, including system compose, design principle and development process of its software and hard ware system. This system shows good control characteristic when dexterous hand grasp object.The control system is a kind of hierarchical control system, which is composed of epigynous operation computer which is used of PC computer , hypogenous operation computer which is used of 89C51 single-chip. According to the machine apparatus and work capability of the three-fingered dexterous hand, The hardware circuit of the control system with 89C51 singlechip has been designed,which include the circuit of collection signals and the drive circuit of DC-motor, the circuit deal with signals of Force Sensing Resistors ,the communication interface circuit and so on. The software of the single chip microcomputer used of C51 language has been developed according to the control strategy.This paper has tested the performance of control system according to the combined test of the hardware and software. The experiment proved that the three-fingered dexterous hand can run smoothly and the control system has high control precision, whichi is good enough for operation.