The Structural Design Of Robot Dexterous Hand And Finger Control System Development

With the progress of science and technology development, robot technologies are more and more mature. At the same time because its application in the field is expanded and the actuators for robots have higher demand, previous special robot end actuators have already not satisfied by the complex, changeful environment. Therefore a strong commonality, high flexibility robot hand becomes an urgent need of society. It is applicable to all kinds of complicated environment, suitable to different objects.Based on the principle of biunique and the depth analysis of the structure of hand, using mechatronic technology, robot dexterous finger is designed which is starting from the human finger and use of Solidworks software. The dexterous finger design includes the design and implementation of mechanical structure, transmission drive system, pneumatic circuit and control system. It also includes sensor system hardware design and finger kinematics and dynamics analysis. The movement trajectory shot fingertips is draw by programming in MATLAB and modeling for dynamic analysis is implemented by Simulink. So the joint position, velocity and acceleration curves of the fingers are drawn out. Based on the design verification of single finger, the overall structure of dexterous robot hand is further implemented.Using Altium Designer6.9 circuit design software the main control circuit, sensor amplifier circuit and PWM driver circuit are completed and the welding and debugging of each module are implemented. In order to achieve a single finger joint control, after selecting the appropriate control strategy, control programs are written in the DSP CCS3.3 development environment. The mechanical parts of the fingers, transmission drive subsystem, the pneumatic system, hardware and software debugging are realized. By the entire single-finger control system experiments, it laid the foundation to further achieve the control of dexterous robot hand and provide a feasible solution for a variety crawling of fingers.