The Research And Design Of Under-actuated Robot Hand With Adjustable Palm

As the End effectors of advanced robots, the research on multi-fingered dexterous hand has been become a hot topic. At the present time, the most crucial problems during the development of robot hand are still the driving and control strategy problem. The strategy of traditional robot hand integrated with information technology, control science, electronics and knowledge of other fields, make it seemed so complex and huge. In this thesis, a kind of robot hand which based on under-actuated mechanism theory is researched. This robot hand provides a method which can solve the control problem of multi-dof dexterous hand only in mechanism field. Besides, different from the mainstream design method at present which fixed the fingers on a rigid directly, this thesis develops a kind of variable palm mechanism. Such a mechanism can adjust the initial pose of the fingers, so it can provide stronger ability of self-adaptive. As it is drived by a new style three dof differencial gear train, the hand has the character of simple structure, light weight, strong grasp, conveniently control and lower cost.At first, based on under-actuated mechanism, this paper makes a detailed analysis of the working principle and character, then, provides a theoretical basis for design of linkage finger. For the study of working property, we chose a three dof under-actuated finger as the research object to study the kinematics and statics, so that we can find out the structure parameters that affects the under-actuated fingers.Secondly, this paper uses the modeling software Pro/E as the tool to design the structure and function of main components of the robot hand. According to its structure features and functional requirements, an assemble sequence is drawn reasonably, and ultimately, set up the 3D model of the under-actuated robot hand, and its function are virtual realized.At last, this thesis set up a virtual machine of the under-actuated robot hand in ADAMS and makes some relative simulation in it. By analysis the simulation results of the hand grasp the object of different shape and size, the feasibility of structure design of multi-dof and under-actuated robot hand is verified. At the same time, one can obtain the changing situation of each phalanx and force from it; moreover the results can also offer helpful parameters for steady grasp. These studies provide a fundamental for further development of this robot hand.