Imitation Of Simple Finger Design And Motion Control Of Humanoid Robot

This paper firstly introduces current study situations, trend and major problems of the research about the hand-paw organization. The kinematics of the single finger as well as tendon transmission system is analyzed in accordance with the structure of simple humanoid robot fingers too. Based on these works, the coordination kinematics about multi-finger is analyzed and studied. Then the simulation and experiment are carried out by MATLAB. The common hand paws are studied in the paper too. From the point of view of bionics, the structure of simple humanoid robot fingers is optimized and the design for "under-actuated drive" is put forward. The experiment proves that organization schema is simple, easy and proper. For the design of multi-axes motion controller, based on MCU ,the paper gives the controller circuit and detailedly describes the hardware, software and the other details (such as chip selection, power separating, the periphery circuit design, PWM signal production and software realization etc). The controller completely adopts paste piece components, effectively reduces size of circuit board and minimizes whole systems design. The layout and control of fingers movement are validated by examples. It can export simultaneously five-channel signals for servo-motors and control in real-time. The experiment proves that controller is stable, reliable and satisfied with the requirement of design.