Research On The Manipulation Planning Of The Dexterous Hand

As the terminal parts of the robot, dexterous hands have standout dexterous and operation capability. Many researchers have very strong interesting about it. At present, many projects based on the grasping model and layout optimal have been advanced in the world, but most of them merely focus on the theory research. And a new layout optimal based on the task will be put forward in this paper.Dexterous Hand is composed of some relative unattached single-fingers, and every single-finger can be looked as a unattached robot, and the grasping model can be considered as the harmony operation of the mult-robot system.The design inspiration of the dexterous hands came from the hands of human being. At first grasping strategy of human being was researched, then the construction character of the dexterous hand was analysed, and the relationship between the fingertip and every joint was built in the paper, which included machine dynamics and kinematics, operation space of the hand. The touching model of the single-finger was researched to find the touching stability condition of the model. So the mult-finger grasping model can be established like this.As the practical task was oriented, the task can be divided into the restriction condition and active condition. The restriction condition can be analysed as the set of sub-task . The operation layout can be advanced with minimize the max of manipulate force as the goal. At the same time a practical example was given. The position of finger was layout to keep the smartness after the grasp point was sure. As the other hand, the active condition means the micro-manipulate of the dexterous hands. The effect of touching point by the rotation of the joint was analysed. The scale of error was analysed, and the minimum value of micro-manipulation was defined.