Structural Design Grasp Plan And Simulation Of Tooth-Arrangement Multi-fingered Hand

With the rapid advancement of technology, robot has been developed and applied in many fields, and iatrical robot is an important developing direction. But iatrical robot has seldom been used in tooth-arrangement of full denture and a lot of problems and shortages are existing. In order to adapt the continuously developing needs of society, robot of tooth-arrangement in full denture not only needs to satisfy human requirement, but makes the manufacturing of full denture realize the level of standardization, automation and industrialization with high quality and high efficiency as well. The development of robot manufacturing system for full denture is a bold attempt of robot technology in oral cavity repairing.Multi-fingered hand (dexterous hand), as a last link and executor between robot and environment, is equivalent to a set of robot which is fixed on the robotic arm, can do deliberate work independently. It is a real personated robot hand which is able to realize agile operation.This thesis presents a tooth-arrangement scheme using a multi-fingered hand based on Motoman UP6, and makes a study on structure, grasp and simulation of the multi-fingered hand. First of all this thesis makes an aggregate analysis on structure of the multi-fingered hand, and optimally calculates the structural parameter of each finger with a multiple objective function. Based on the optimal structure of the multi-fingered hand, kinematical function is established and then obverse and reverse kinematical solutions are gotten. Further more this thesis analyzes the structure of a finger, and calculates the work space of single finger, and the visual simulation of the work space is made by Matlab software. And then it makes research on grasp, especially lucubrates the force-close grasp, and an example of calculation is given. At last, ADMAS module of UG software is...