Mechanical Design And Analysis Of A Full Driven Dexterous Hand

With the application fields of robot are more and more extensive，the dexterous robot handis one of the important challenges of robot.This paper designs and manufactures a full driven dexterous hand, which has five fingersand20active DOFs (degrees of freedom). Then, this paper presents the kinematics, dynamicsand working space of the full driven dexterous hand.First, reference on the relative research results of the dexterous hand in the world, theresearch aims and contents are proposed in chapter1. According to the bone structures andmovement analysis of the human hand, this paper designs a full driven dexterous hand with theinnovative mechanism design of its thumb. We establish the3D models of the full drivendexterous hand, and manufacture a physical prototyping.Second, the paper analyzes the kinematics of the full driven dexterous hand. According toD-H method, we establish and solve the kinematics and inverse kinematics models of the fulldriven dexterous hand, which provide the theoretical basis for the workspace analysis of the fulldriven dexterous hand.Third, this paper analyzes the dynamics of the full driven dexterous hand. We establish andsolve the dynamic model of a single finger, and carry out the dynamics simulation of the fulldriven dexterous hand. The driving moment curves of the finger joints are the valuable referencedata for the manipulative control of the full driven dexterous hand.Fourth, this paper proposes a new method to present the workspace of a dexterous hand.Basing on kinematics analysis of the full driven dexterous hand and the movement range of thefinger joints, we establish the mathematical workspace model to analyze the work the singlefinger work space of the dexterous hand, which are useful for the mechanical optimization of thefull driven dexterous hand.Finally, the conclusions and future work are summarized in Chapter6.