Research On Fingers Of Three-Finger Dextrous Hand And Grasping-Motion Programming

With the development of robot technology and wide application in so many fields, as the implementation part of the interaction of robot and its environment, the workability of multi-fingered dexterous hand has higher requirements.This dissertation analyses the present study literature of multi-fingered dexterous hand, mianly studys the optimal structural design and track programming.From the point of view of bionics, this dissertation optimally analyses the structural forms of multi-fingered dexterous hand by the personification, and draw a conclusion that a form includes a palm, three fingers and nine rotation jionts. Intruduces optimal design method, choosing the optimal goals scuh as work space, optimally designs the structural parameters of this hand. And finishes material structure design.Analyses and establish the kinematic model, obtains the forword and inverse kinematic equation ,and simulate the motion of grasping. Finishes the analyse of force between fingers and environment in the state of statics.Compareingthe track programming in joint coordinate with that in Cartesian coordinates and analyzing the whole motorial characteristic of the fingers, This dissertation showes method of making track programming in joint coordinate form the start to the near and do in Cartesian coordinates from the near to the touch.This dissertation finishes the display and control system in PC using Visual C++ language. The software fill the role of harmonize the whole control system, including making track programming of three fingers, harmonizing the motion of three fingers, dealing with all theerrors in the whole system, displaying the errors and realizing man-machine communication.