Simulation And Design Of Space-servicing-oriented Tendon-driven Anthropomorphic Dexterous Hand

The construction of China’s space station is proved to be in a rapid development period by thesuccessful docking of the Tiangong-1. The resulting need for more multi-purpose, more intelligent,and more lightweight on-orbiting servicing robot is unprecedentedly urgent. Compared with otherservicing robot systems, the robotic dexterous hand is definitely one of the most excellent not only infine operations but in friendly coorperation with astronauts. However, both special task and complexenvironment require the dexterous hand working in orbit to be more outstanding than those workingon earth in accuracy, reliability, stability and especially the anthropomorphication.In this paper, the mechanical system of the tendon_driven dexterous robotic hand is firstlydesigned in Pro/E based on the human hand osteology&kinematics, experimental data from studiesof operations with EVA tools and the relative theory in robotics. Futhermore, the kinematics, Jacobianmatrics and dynamics is analyzed with the application of Lie group and screw theory, which embracesmore geometry implications than traditional Denavit-Hartenberg method in robotics. Based on screwtheory, the dynamics simulation of dexterous finger is finished by taking advantage of multidynamicsanalysis software—Adams, through which the joint torque needed in limit condition is obtained. Atlast, the bi_loop position controller of the tendon-driven dexterous finger is designed and verifiedthrough simulation in Adams and Simulink.