Study On Tooth-Arrangement Multi-Fingered Hand And Its Grasp Planning

Multi-fingered hand of robot needs high capacity, which acts as the last tache and implement of the interaction on robot and environment. With the application of robot widening day by day, the remote controlling to robot and autocephalous manipulation improve this need largely. Tooth-arrangement multi-fingered hand is a implement simulating human being's hand, and it can touch and see. It can measure the force which applied on ,. The robotic hand can substitute human being's hands to work and improve the efficiency and quality. This article mainly studies on the structural design and the grasp plan of multi-fingered hand and applies advanced program language to simulate multi-fingered hand on the Windows NT platform.Study the structural design of tooth-arrangement multi-fingered hand on the basis of many kinds of multi-fingered hands which have been made successfully, and multi-fingered hand's structure is optimized and designed from motion Pairs of finger's joint, finger number, drive mode and translation mode and so on.Research the tooth-arrangement multi-fingered hand's grasp planning to resolve the problem of grasp stability mainly on the basis of force-close analysis, and nonlinear programming method and the Matlab software are used to analyze and compute force-close prehension of multi-fingered hand grasp, also the optimal form of force-close prehension is estimated.At last, the kinematic analysis of tooth-arrangement multi-fingered hand is accomplished, applying D-H coordinates method to establish kinematic mode of multi-finger hand, and deduce the mutual kinematic relation of coordinates conversion from palm coordinates to finger coordinates of multi-fingered hand, Advanced program software JAVA 3D is employed to simulate multi-fingered prehension by the data acquired from force-close analysis of grasp planning.