Development Of Five-fingered Hand Driven By Ultrasonic Motors

Multi-fingered hand can be applied in various fields, such as exploring outer space, empolder nuclear energy, medical instrument. In recent twenty years, research on multi-fingered hand has been developed rapidly for the requisition of engineering application and now has been an independent research field.The ultrasonic motor has features such as high driving torque at low rotational speed, electromagnetically immune, compact size and lightweight. Therefore it is suitable for the actuator of multi-fingered hand that has structural restrictions.A five-fingered hand is designed in this paper, which driven by the method using ultrasonic motors and elastic elements. It has thumb, index finger, middle finger, ring finger and little finger. Each finger has four DOFS, so the hand has totally twenty DOFS. In addition, all the USMs are placed inside the hand, and the hand has the independent structure with five fingers. The weight of the hand is less than 1kg. The simulation of the kinematics and dynamics of the model is also developed in ADAMS to ensure to meet the design requirements. The simulation results show the design is feasible and reasonable. Secondly, the motion control system based on DSP and CPLD is established in the paper.According to the main scheme of the system, we designed the circuit of DSP system, direction of USMs control module, velocity of USMs control module, A/D transformation and so on. And we also develop the software which included system initialization module, joint return to zero module, joint control module and so on. The five-fingered hand position feedback control is realized by adopting a two-modeled control algorithm.