Research On Dexterous Hand With Cable Transmission

As a robot end-effector device, dexterous robot hand is an important part of robot which is used to perform capture and manipulation. It has significant impact on robot’s performance. With technological development of robotics research, the requirements for dexterous robot hand is also increased. By studying and imitating human hand, humanoid robot hand tries to solve practical work like grabbing complex objects with stable and reliable operation and other issues. Dexterous robot hand is a combination of bionics and robotic products. It has some features like a human hand, such as its shape and function. After study of human hand’s physiological structure and distribution of degrees-of-freedom(DOF) model, we know that the first and second joint of fingers have parallel movement feature and the thumb, forefinger, midfinger are relatively flexible compared to other fingers. Referencing the distribution model of DOF of HIT/DLR hand, The TUST dexterous hand is designed and manufactured. TUST dexterous hand has the new transmission scheme and implementation method:distributing the power twice by the clutch and rope drive mechanism in the fingers. It uses one motor to drive the whole dexterous hand which had21degrees of freedom; and reduces the response time effectively by using new control strategy. Using rapid prototyping technology, TUST hand is created. The control system is established by ATmega16microcontroller. H-bridge chip and PWM is used for motor speed control; it forms a closed-loop control through angle sensor feedback and solenoid locking system. Using circuit design software:Altium Designer6.9, whole hand control system which constituted three boards is designed.Finally, this thesis summarizes the work of this project, put forwards some shortcomings and limits of TUST hand, makes a prospect in future development direction of dexterous hand.