The Mechaniam And Modeling Design Of Under-actuated Multi-degree Of Freedom Bionical Robotic Hand

As to the war and traffic accident, the number of sufferers which have lost their arms and hands is increasing all over the world, so the requirement to the artificial limb and artificial hand is enlarging incessantly. Besides, the flexible mechanical hand is needed to manipulate complex objects in industry field.But the artificial hand which approach the function of real hand is often the mechatronics integrated high-tech product, whose price and maintenance expense are high, and it couldn't meet the sufferer's requirement. On the other hand, the problem of actuated-control system due to the muti-degree of freedom of hand is not well solved yet. Therefore, the artificial hand whose price and maintenance expense are low is unremitting pursuing of researchers and engineers all along.Based on above idea, the under-actuated 15 degree of freedom bionic mechanical hand was developed. First, the multi-degree of freedom differential driving principle is applied to design the 5 degree of freedom differential drive system, which was placed inside palm and drives the fingers movement; The fingers were jointed using sheet springs, which made up of elastic joints, and blocking and embedded design are adopted in order to convenient maintenance. Thus, by the ingenious integrating of multi-degree of freedom differential driving principle and elastic joint, the designed 15 joints of bionic robotic hand could be controled by one driver and could manipulate objects self-adaptively (the driver could be the upper arm and the upper shoulder to instead of motor).First, two kinds of bionic robotic hands, which were keep-opening and keep-closeing, were designed, and the self-lock mechanism was designed to control manipulating to ovoid inverted movment for the keep-opening bionic robotic hand. Then, the movement driving force and driving movement are analyzed of bionic robotic hand, and the movement and driving force curves of fingers along with the time changing are simulated. In addition, the modeling and parameter design of hand are processed applying in product shape design theory and man-machine project principle. Next, the bionic robotic hand was modeled by Solidworks three-dimension modeling software, and the great mass of parts of the bionic robotic hand were manufactured using Rapid Prototyping Machine by STL interface. Last, the manufactured parts were assembled and the movement of bionic robotic hand was debugged, and the experiments manipulating objects with different shape applying in bionic robotic hand were tested.