| The multi-fingered hand is the last actuator of industrial robot interacting with thesurroundings. The research of the multi-fingered hand has been an important scientificsubject. For limitations of the driving mode and power-plant, the multi-finger hand onlycan grasp very light objects.Based on analyzing the current situation of multi-fingered hand, the tandem four-barmechanism and the full hydraulic driving system are adopted to the new design scheme.First of all, after comparing the driving system and the kind of dive, the changeablefour-bar mechanism and hydraulic actuator are integrated in one finger to realize themovement. The kinematical model of finger mechanism is deduced. The kinematicalrelations between joint angles and hydraulic cylinder stroke are established, and the spatialenveloping space is worked out by MATLAB.Second, according to grasping characteristics, the hydraulic driving system isdesigned and the hydraulic principle is elaborated. To simple the analysis, the wholehydraulic system is separated into the electro-hydraulic proportion position control andforce control according to the grasping control policy. The subsystem mathematic modelsare also built to describe the dynamic characteristics. On the basis of obtaining thehydraulic parameter, the simulation analysis is carried out by MATLAB. Aiming atimproving the hydraulic control performance, the conventional PID controller isintroduced to adjust the force subsystem.In the end, the finger mechanism model is constructed in ADAMS/View and thegrasping is simulated and analyzed based on the virtual prototype technology. Thecorrectness of theoretical analysis is validated by the kinematic and dynamic simulation.Based on the above research, the feasibility and effectiveness of the full-hydraulic drivenstrategy is discussed. It not only gives guidance to the theoretical study of the robotmanipulator but also lay a solid foundation for physical prototype manufacturing and itsindustrial application. |
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