Configuration Type Synthesis Of Prosthetic Finger And Multi-fingered Manipulating Kinematics Study

Based on the theory of mechanism, combined with the application of kinematic chain topology in mechanism configuration type synthesis, structural types of under-actuated prosthetic finger mechanisms are synthesized, the thesis contrasts all types of organizations in order to select a resulting finger as the research object, and thus proceed kinematics analysis of multi-finger grasping manipulation from the composed of such finger prosthesis.Firstly, on the basis of analyzing single-open-chain (SOC) superposition method’s basic property, the thesis obtains integrated approach of structural types applied to compound hinges kinematic chain, by making use of two-color topological graph to describe elements’adjacency relation of the mechanism with compound hinges, and by improving the constraints of the single-open-chain superposition method. Based on the above method, this paper synthesizes the two degrees of freedom and3degrees of freedom (DOF) of the three institutions finger knuckle.Secondly, in order to make the final prosthetic finger mechanism can achieve fetching that is similar to the way of human better, we formulate finger mechanism contrast standard. In ADAMS, based on the standard of the above, grasping movement simulation of the selected finger mechanism is proceeded. Finally, a sort of3-DOF prosthetic finger mechanism is chosen.Again, the thesis uses kinematic chain topological graph to describe multi-finger grabbing model, illustrating the relation of multi-finger operation kinematics’research objects. For prosthetic finger constituted by the three degrees of freedom, according to kinematic analysis on the basis of a single finger, as objects in the trajectory of the centroid of the known conditions, it makes use of multi-finger operation kinematic analysis to calculate the movement trajectory of each finger fingertip.Finally, taking the advantage of existing prosthetic fingers experimental platform to experiment, thereby it verifies the feasibility of the3-DOF fingers mechanism objects of different shapes to achieve the envelope grab. Meanwhile, it measures the natural movement of the rotational angle during the knuckle of the finger, to draw the trajectory of fingertip, and the results were compared with the kinematic analysis to further verify the correctness of the theoretical calculation.