Kinematics Modeling And Control System Design Of TJU/LCK Four-fingered Metamorphic Robotic Hand

Currently, the development of robotic hands has been mainly focused onintelligentialize of the control system, while few attention is paid on investigation ofnew structure design. However, the increasing complexity of grasping tasks and therise of service robots present new requirements for the innovation of robotic hands.TJU/KCL four-fingered metamorphic robotic hand that this paper studied isessentially different compared with other existing robotic hands. The introduction of areconfigurable palm largely improves its flexibility and the adaptability to varieties oftasks，but this also leads to the complexity of the hand kinematics. As a totally newkind of robotic hands, the study of TJU/KCL metamorphic hand is in the primarystage. Based on this fact, the research contents that this thesis contains andachievements that this thesis obtains can be summarized as follows.(1) Forward and inverse geometric constraints of the reconfigurable palm areanalyzed by means of geometric method and the constraint equation methodrespectively. And velocity constraints of the reconfigurable palm are studied byutilizing vector method, on the basis of which, mathematical conditions of palmsingular configuration are explored. Further, all singular configurations are derived,including serial singularity configuration, parallel singularity configuration and hybridsingularity configuration.(2) To solve kinematic issues of TJU/KCL metamorphic hand, a kind ofkinematic analysis method based on palm constraints is put forward, which isinstructive to kinematic problems of hybrid mechanism. To achieve inverse kinematicsolutions, finger with relatively simple subchain is firstly analyzed. Then inversekinematic solutions of fingers with complex subchains are derived by takingadvantages of palm constraints. It reveals that this kind of method largely simplifiesinverse kinematics of the metamorphic hand, and analytical solutions are obtained in aconcise form.(3) Palm workspace and finger workspace augmented by the palm is studied topresent the significance and advantages of the introduction of the reconfigurablepalm.(4) Grasp map of TJU/KCL metamorphic hand is established and thekinematic-based grasping constraint equation is derived.(5) The control system of TJU/KCL metamorphic four-fingered robotic hand arebuilt successfully, including control circuit design and motion control programming.Finally, position control is realized. This thesis lays a solid foundation for the follow-up research of TJU/KCLmetamorphic hand and has important significance for the future development andimprovement of the hand.