The Research Of The Dexterous Robotic Palm Including Palm Arch Degree

The dexterous robotic hand can grasp with different shape and different material objects, can precisely operate the objects, get the sensation from external environment information, may realize a more complex duty under the non- structure environment, therefore, in many country, researchers pay more attention to the dexterous robotic hand, and made many important achievements. However, the role of the palm in hand's movements had not yet a matter of public concern, this paper studies and develops the dexterous robotic palm including palm arch degree to improve generality, flexibility and grasping objects adaptability of the dexterous robotic hand, which has an important role in manipulation of the dexterous robotic hand.The mechanical system is the important component of the dexterous robotic palm. This paper presents a simplified model to predigest the palm of human, according to this model, mechanisms of the dexterous robotic palm is designed, in order to make the palm which is mostly used as the rack of the dexterous robotic fingers and their control units form palm arch degree to assist the operations of the dexterous robotic hand. Mechanisms are fully consistent with the dexterous palm movements required through mechanisms optimization and simulation by MATLAB software. Based on this study, the kinematics and dynamics of the palm linkage system is studied.The dexterous robotic palm has two degrees of freedom including the thumb carpal joint-curved degree and palm arch degree, which are separately droved by two brushless DC motor (BLCDM). DSP56F805 is used to control the two BLCDM. Control system circuit and software systems is planed in this paper, moreover, its mathematical model has been constructed to provide the premise for position control. In this paper, torque sensor has been developed for the torque control.The robotic position control is suitable for the situation of robotactuator along a path of freedom of movement, however, if the actuator contact with the external environment objects, just consider the implementation of position control is unable to meet requirements of the operational the mission, this requires robot control system must own torque control functions. In this paper, the integral separation PID algorithm to design the dexterous robotic palm carpal joint control system, and study the joint of position control in the free space and the torque control in constraints space.