Research On Amulti-fingered Hand And Force/Position Control System

The technology changes daily which is contributing to the rapideconomic development and improving people’s living level.Representative of high-tech, robot has attracted much attention for its highintelligence and outstanding performance. As a necessary part of robot, theend-effector plays an important role, which contacts the object directly,whose structure and performance have a great influence on grabbing theobject, has always been the focus of related researches. With a furtherstudy, its application and influence will be more widen. This thesisdesigns a multi-fingered robot hand, driven by stepping motor, equippedwith an encoder, a controller of stepping motor and pressure sensors,which controlled by PC. With the characteristic of size according to anadult’s hand, a wide range of speed regulation, a large angle range offingers’ open and close, high precision of speed/position regulation, andequipped with pressure sensors, which allows the multi-fingered robothand to grab the vulnerable object. The thesis concludes the following:First, it introduces the current research status of agricultural pickingmanipulators at home and aboard. Then, it analyses and discusses thecomposed of the system according to the requirement of the multi-fingeredhand, with a result of completion of hardware and software solutions.After that, the structure of the multi-fingered hand is modeled by using3Dsoftware and the target movement is finished. Based on that, the controlsystem is discussed from two aspects, hardware and software design. Thehardware design concludes the description of the hardware composition,which includes designing of DSP controller and the FSR sensors are calibrated and fitting, while the software design concludes realization ofthe serial communication between PC with stepping motor, PC with DSPcontroller, read and write of the A/D conversion chip TLC3574, alsoprogram using PID control. At last, the experiments of grabbing objectsusing PID control under the control strategy, which is categorized, aredone.From the experiments of stepping motor control, we can see that thestepping motor has a fast response, high precision control, while from theexperiments of force control and position/force control during themulti-fingered hand grabbing objects, we can see that the hand can grabsome kinds of object steadily.