Structure Design And Performance Analysis Of A New Pattern Dexterous Hand

With the more and more attention paid by the country to rehabilitation engineering, it is of great practical significance to manufacture new pattern dexterous hands to overcome the shortcomings of the prosthetic hand and to recover the function of the patients'forearms, which could help the handicapped to integrate into the society. Meanwhile, the dexterous hand can also be widely applied in the fields of aerospace, precision machinery, military, industry, medical devices and so forth. Based on the thorough analysis of the present domestic and foreign researches, the optimum structure design and the performance of the new pattern multi-fingered dexterous hands are analyzed and studied.First of all, according to bionics, this dissertation has carried out an optimum analysis of the structure elements of the multi-fingered dexterous hand on the basis of the structure and the parameters of human hands. The structure design of the under-actuated drive crossed-tendon mechanism of the single finger, thumb, ring finger and little finger has been emphatically introduced. Then the 3D modeling of the multi-fingered dexterous hand has been presented by SolidWorks, which simulates the motion of cylindrical grasp and lateral grasp.The kinematical model of the dexterous hand has been set up, and then the forward and inverse solutions have been deduced. The velocity and the static feature have been analyzed in the workspace of the dexterous hand; meanwhile, the force moment of each joint under the condition of static balance has been calculated based on statics.Each finger's athletic track and stance have been simulated in the coordinates of the whole dexterous hand through the MATLAB software. The relations among fingers'athletic tracks have been analyzed, which helps to optimize the parameters of the joints. Comparing the advantages and disadvantages of the track programming in the joint coordinates with those in the Cartesian coordinates, this dissertation has put forward the method of track programming of different positions in the two coordinate systems, and then an accurate and steady grasp can be achieved.