The Control System Design Of Space Five-fingered Dexterous Hand

With the rapid development of China's space station project, the astronauts' operating tasks are more and more complex. In order to reduce the labor intensity of the astronauts, the demand for the intelligent robot is becoming more and more urgent. The traditional "clamp" terminal operator's work ability is limited, and can't meet the demand of the man-machine coordinated operation on orbit. Dexterous hand is more flexible, stronger and has better adaptability, so the dexterous hand is more suitable for complex space mission. This paper mainly studies the design of space five-fingered dexterous hand's control system, and the key technologies and main difficulties during the design of control system are given.First, This paper compares some typical dexterous hands and selects the tendon drive program for space missions. The main parameters of space five-fingered dexterous hand are given.Then the space five-fingered dexterous hand's subsystems are designed, the relationship between wrist's pitch angle?yaw angle and screw displacement is derived in detail;N+1 and N tendon drive program, joint angle position sensor's design method, calibration process and data processing method are given;We choose suitable motors and drivers to achieve high-speed real-time multi axis control;The design and architecture of the upper computer software and lower computer software are given.For the N+1 tendon driven finger's, the D-H parameter method is used to solve the kinematics equation. Tension distribution algorithm(TDA) is used to control the tendon tension of each tendon in the reasonable range. Impedance control algorithm is used to control the contact force to achieve the desired value. And the feasibility of the control algorithm is verified by the simulation experiments based on ADAMS virtual prototype.Next, the position and joint torque control of the under actuated fingers are analyzed in detail, the existence of slack region determines the uncertainty of the position control, the simulation result verifies the uncertain position control.At last, the feasibility of the control system is verified by the teleoperation experiment and autonomous grasping experiment. The force transmission characteristics of the tendon determines the existing of lag when the dexterous hand tracks the data glove.