Design Of An Anthropomorphic Dexterous Hand And Research On Its The Workspace

With the more increased demand for industrial production, and the more complicated work environment, the application of the gripper in the end of robot has become more widespread. Currently, the leading edge and hotspot of the research about the gripper in the end of robot is the multi-degree of freedom dexterous robot hand. Based on bionic principles, designs an anthropomorphic dexterous hand with five fingers of 20 DOF in this paper, carry out analysis of kinematics and workspace, and complete the simulation text on the anthropomorphic dexterous hand movements and workspace.First of all, comprehensively overview the research on the dexterous hand and the robots workspace at home and abroad, come up with the research objectives and the main research contents of this paper.Secondly, based on manpower movement model, complete the design of the mechanical structure of the anthropomorphic dexterous hand. Apply the UG software to establish a virtual prototype of the anthropomorphic dexterous hand to lay the foundation for subsequent simulation analysis.Third, establish inverse kinematics model of the anthropomorphic dexterous hand through the posture analysis of the anthropomorphic dexterous hand and the application of the D-H method, and adopt MATLAB software to solve in order to provide a theoretical basis for the solving the motion simulation and mobile workspace of the anthropomorphic dexterous hand.Fourth, simulate and test the action of the anthropomorphic dexterous hand, including gestures and grasping simulation, and validate the workspace and related sports performance of the anthropomorphic dexterous hand. At the same time obtain the torque-variable regularity of the joints of the finger in the process of movement by the dynamic performance simulation on the single finger of the anthropomorphic dexterous hand, in order to provide a theoretical basis for motion control of the anthropomorphic dexterous hand.Fifth, present a solution for solving the active workspace of the anthropomorphic dexterous hand. Combine the kinematics analysis of the anthropomorphic dexterous hand and the range of motion of all joints, and establish the workspace of the single finger of the anthropomorphic dexterous hand; completes the simulation workspace of the dexterous hand. To analyze the workspace of the single finger and that of the interphalangeal intersection, achieve the work performance of the anthropomorphic dexterous hand, and optimize the anthropomorphic dexterous hand from the workspace.Finally, a summary of this paper and future research directions are given.