Study On The Dexterous Hand For Assembly Line

Aiming at the operating requirement of automation in production and assembly lines,and considering the current situation of the traditional manipulator is costly and the spatial distribution of transmission scheme is difficult,this paper designs a dexterous hand for assembly line and achieves complete system function.This paper also designs an IDE(Integrated Development Environment)for structured natural language,which addresses the demand on control of the mechanical platform of the dexterous hand and the requirement for usage of rapid development of the independently developed controller.The IDE can help researchers do rapid reconfiguration development of the controller.The transmission scheme of the system is composed of push-pull flexible shafts and stepping motors,placing the power source at the end of the mechanism,transferring power through push-pull flexible shafts,which solves the problem of the space limitation of the low cost dexterous hand system.The stepper motor operates clockwise and anticlockwise,drives the tensioned slope of the push-pull flexible shaft slides around the pulley clockwise and anticlockwise,which drives the two joints of the linkage fingers independently.The system can execute actions like grasp,hold,rotation by means of the combination of different gestures of the linkage fingers and the palm,cooperating with the arm driven by steering engine and Three axis linear slipway.The system satisfies the function of assembly line.This paper analyses the postures of the dexterous hand while operating assembly actions when the system is working properly.It also designs and optimizes the structure of the fingers,the palm and the connecting pieces,and finally completes the manufacture and the assembly of the prototype.This paper designs a dedicated IDE for structured natural language,which addresses the demand on control of the mechanical platform of the dexterous hand and the requirement for usage of rapid development of the independently developed multi-core heterogeneous programmable controller.The IDE take structured natural language as the carrier,which can help users based on zero programming experience to actualize cross-platform codedevelopment with combination of logic control statements and command statements.Integrating functions like background conversion,compiling and debugging,the IDE enables users to integrated hardware and software development,which reduces the difficulty of the development of mechatronics control system and improves the efficiency of projects.