Three Fingered Dexterous Hand Structure Design And Control Experiment

As an important tool to improve intelligent and manipulative levels of the robot, multi-sensory dexterous robot hand has become one of the most promising researches in robot field. Robot hand body and its control research are two main aspects of robot hand research, they decides to manipulative levels. Based on NanJing Institute of Technology's program"Research on light mechanical arm of small vehicle", a three freedom of degree modularized finger on international top is developed, a three-fingered dexterous hand and a two DOF wrist is design.The three-fingered dexterous hand has three identical modularized fingers. The finger has features of multi-sensor, modularity, integration, digitalization and so on. Adopting the idea of mechatronic integration and taking into account disposition of all mechanical part, electrical part, driver and sensors, the three-fingered hand has realized system optimization design. As a small workable robot system, every modular finger is integrated with drivers, sensors and communication system. Modular of finger reduces the design complexity of the hand, and enhances replacement ability and maintain ability. In addition, the collocation configuration of fingers and the structure of palm will decide the grasping ability of the dexterous hand. This paper will design the mechanical structure of the palm based on the finger's dimension and structure, and process grasping analysis.The function of wrist is to improve the dexterity of three-fingered hand, simple kinematics and large angle workspace are the targets of the design. In the design ,the drive and transmission system and the joints are separate ,this make the dimension appropriate.As the base level of the hand control system, finger control directly influences the manipulative ability of robot hand. According to the finger structure, finger kinematics and dynamics is firstly analyzed, which will be used in finger control. By using a trajectory interpolation algorithm proposed by Paul, a joint position antintergral-saturation control algorithm is proposed, and then position control of finger tip in Cartesian space is done. When dexterous hand works, the finger compliance is very important. As one of main ways realizing compliance, the impedance control is studied deeply and implemented widely. According to the information of joint force sensor and position control of joint, a joint impedance control is achieved in the dissertation.