Research On A Kind Of Humanoid Robot Hand Based On Underactuated Mechanism

Robot hand, as the terminal grasp tool of robot, is an important field of robotics development. Humanoid robot hand, as a branch of the robot hand, is mainly used in the humanoid robot. In recent years, with study of humanoid robot warming, a number of humanoid robot hands have been developed, or called dexterous robot hands. Although most of them are able to realize flexible grasp and operation, there exist some deficiencies such as more drive components, complex control, and poor load capacity. This article focuses on the design of a humanoid robot hand which can not only realize flexible grasp, but also has large load capacity and simple control system. The main work of this thesis include: design of the mechanical structure and the control system of the robot hand; comparative analysis of the precision pinching grasp and the enveloping grasp; virtual simulation and a large number of experiments of the robot hand; modular transformation of the structure of the robot hand.In this paper, based on the study of the underactuated mechanism, the mechanical structure has been designed using bionics principles, structure and operation have been eased and at the same time achieving the precision pinching grasp and the enveloping grasp of objects. And their statics models, Grasp-Wrench-Spaces and grasp stabilities have been comparatively analyzed. A control system has been designed by selecting several kinds of sensors, motors, motor drivers and single chip microcomputer and so on. A combination of virtual simulation and experimental method has been used to verify the reasonableness of the design; modular transformation has been done from the structure characteristics of the hand, reducing the production costs.This humanoid robot hand has simple control system, big output force and good grasping adaptability. Through the application on the humanoid robot, the practicality can be enhanced, and its extent of use space can be expanded.This dissertation is supported by NSFC of Anhui, China (No. 070414147).