Research On The Control System Of Robot Three-finger Dextrous Hand

This paper introduced the mechanical structure, statics analyse, especially, the control system of the three-fingered dexterous hand, including system compose, design principle and development process of its software and hard ware system.Given the collectivety precept of controlling system. Because the controlling system need to have high timing dealing ability and high feasibility, and need to deal three simulating sign, we select two level controlling precept. We use 89C51 to drive motor, so to drive the fingers, use PC to complete orbit programming, person-computer intercommunication, the controlling arithmetic of force-location, failure diagnose and so on. The 89C51 circuit include the communication circuit, motor driven circuit, joint location detect circuit and force signal collecting and dealing circuit. And debug all the hardware circuit of the controlling system.In allusion to the circuit and controlling way, we use C51 to program the software of the single-chip computer, and convey the sign which is detected from the coder to the PC from serial interface. At the same time, use the sign which came from PC to control the finger's motion.At last, we had combined test, which include that the communication between single-chip computer and PC, and solidified the debugged program to the CMOS chip.