Grasping Motion Planning And Control System For Underactuated Four Finger Dexterous Hand

With the advantage of less drive number, easier control and more grasping stability, underactuated dexterous hand has gradually received extensive attention from the researchers around the world, which is the typical representative of electromechanical integration system, and contains multi-disciplinary content, such as bionics, drive, electronics, control, sensor information fusion and mechanisms, underactuated dexterous multi-finger hand can conduct effective dexterity grasping and operation for arbitrary objects of different shape and size, and has been gradually used in many areas,which include aerospace, medical, disability services prosthesis, underwater detection, dangerous operations, therefore it has better research value and application prospect. Based on the further study of motion feature of underactuated dexterous multi-finger hand home and abroad, this paper has analyzed and designed the control system for underactuated dexterous four finger and its grasping properties.(1)Based on tendon rope transmission designed for dexterous hand prototype, underactuated ringer design use modular thought, according to the control system requirements and grasping tasks, the suitable drive and external pressure sensor have been selected, and three-hierarchical control system architecture has been proposed as well.(2)Based on the functional requirements analysis of control system, dual-core processor hardware architecture DSP+FPGA and control system hardware circuit have been separately designed, and both core PCB and drive PCB for control system has been separately designed as well.(3)A complete set of software system have been designed, which include PC top monitoring software, realization of dexterous hand grasping and relaxation function of DSP software, and counting for motor encoder orthogonal pulses of FPGA software.(4) Based on the analysis of the dexterous hand grasping movement process, its grasping motion planning algorithm can been abstractly seen a specific the job shop scheduling problem, and can be designed with genetic algorithm.(5) Experiment platform has been conducted for the dexterous hand prototype, grasping experiment for both single movement and coordinated movement have been separately conducted. Test result show developed underactuated dexterous hand has good adaptive envelope grasping ability, reliable control system stability and achieve design goal of the expected humanoid hand grasping operation task.