Research On Under Actuated Bionic Manipulator Designation

Robot design and control at home and abroad in recent years, very active research topic. Its design can be divided into prosthetic manipulator robot design and industrkil design. The former’s role is to replace part of the upper limb defects physically disabled persons, in addition to considering performance issues, but also consider its biomimetic, ie its shape and the shape of the human body similarities. The role of the latter is to replace the industrial production workers, focusing on the functional design. Because of the war, traffic accidents and other reasons, the world’s arm, a broken hand the increasing number of patients, so the prosthesis, prosthetic hand demand has widened. April1,2006until May31for the second time our national sample survey of persons with disabilities under the direct leadership at all levels of government, organized the738investigation teams asking door to door registration, screening and assessment of disability, according to survey data projections, the national total of8296kinds of disabled people, the proportion of the total population of6.34%2412which physically disabled people, representing the proportion of the total number of persons with disabilities is29.7%with1987the first national sample survey of persons with disabilities compared to an increase of the total disabled population, persons with disabilities has risen, so there are a lot of people need to install the prosthesis. Create a similar shape and staffing, functions and staffing approach, able to capture real-time motion control humanoid hand prostheses for people with disabilities is very necessary.Under actuated manipulator has simple and compact structure,light weight, low cost, and has wide development prospect. The purpose of this study is to design a stable performance, driving scheme is easy for under actuated bionic hand, the full text is divided into four parts.The first part of the introduction, analyzed the research background and significance, through studies on large amount of data, research status of under actuated bionic manipulator includes the research status abroad and domestic research status the paper, in order to correctly understand, the research status of related research, and analysis of the existing study what are the deficiencies and problems to be solved, help determine the research subject, of innovat ion. And the main content of this study and research methods of the paper, introduces the main innovation point. The work characteristic of driving bionic hand analysis principle, structure characteristics of underactuated bionic manipulator are discussedIn the second part, and the stability of bionics under actuated manipulator is studied, including grasping planning, multi. fingered hand control, multi. fingered hand grasping force planning, multi. fingered hand coordination control at the same time, the kinematics analysis of the fingers, including space point and the coordinate representation, transformation, the coordinates of the under actuated manipulator kinematics and inverse kinematics and differential movement.The third part under, actuated bionic manipulator design scheme is designed for less bionic hand, provides the overall design scheme and the design requirements, based on the under actuated wrist scheme and under actuated wrist scheme two, and then selected the best less qualified driving wrist scheme.The fourth part under dynamic simulation driving bionic hand through the establishment of coordinate system and the transformation of matrix, that has carried on the elaboration to the rigid body of the space, and then use the D. H rule, the manipulator joint, angle parameterization, the kinematics and inverse kinematics is derived from the angle of joints, and calculate the initial coordinate manipulator hand. Secondly, using ADAMS software, introduces the mechanical hand3D modeling process, including the overall framework, a single component drawing and Boolean operation, and the manipulator joint points of the parametric design. Finally, starting from the basic principle and method of manipulator trajectory planning, a comparative analysis of the trajectory pi tinning in joint space and Cartesian space trajectory planning of difference, and the three polynomial and five polynomial trajectory planning of manipulator, the motion trajectory simulation analysis based on Step function is embedded in ADAMS software. Then the system environment of Windows XP Professional, with Visually C++6.0as development tool, three degree of freedom manipulator visual simulation system model is established, the simulation system of the MATLAB control to read and use models derived data.