Research On A Novel Kind Of Passively Self-adaptation Robot Dexterous Hand Based The Magneto-theological Fluid

As the output terminal of robots, the robot hand has caught more and more researcher's favors and attentions. At present, the mainly grasping form of robot hands is the active grasping, which can finish grasping objects according to the present contact points. However, the passive robot hand can self-adaptively seek the best contact points for the different complex objects and complete the envelope grasping. This robot hand does not ensure the points of contacting presently and can grasp complex shaped objects easily.In this paper, a novel passively self-adaptive robot dexterous hand is proposed. The corresponding research is made combining with the application of magneto-rheological fluids. The main content of this paper as follows:First, the relevant content of magneto-rheological fluids is introduced and the mechanism scheme of this robot dexterous hand is presented. The work process and work principle are analyzed as well as structural parameters are determined.Second, the kinematics analysis is accomplished by using the knowledge of the robotics and institutions of higher learning. And the workspace of the finger end is obtained. The Jacobian matrix is set up and the inverse kinematics solutions of speeds, accelerations and postures are achieved.Third, the matrix mapping relation between the knuckles coordinates of each contact point and the palm global coordinate system is established. The static analysis of robot hands is confirmed and the force expressions of contact points are solved. Lastly, some various factors influencing the grasp force are analyzed. The coil parameters are designed. The relationships of magnetic induction and electricity and shear yield stress are analyzed.Finally, the 3D model of this robot dexterous hand is built by the Solidworks three-dimension modeling software. Some parts are manufactured using the Rapid Prototyping Technology and the physical prototype of robot dexterous hand is made. The simple experiments of manipulating objects are tested and the feasibility of the scheme is verified in paper end.