Structure Design And Control Research Of Humanoid Dexterous Machine Hand

Robots,as an important solution for the global labor shortage,has been widely applied in production and daily life.With the further exploration of the unknown space such as ocean and universe,instead of the monofunctional type,nowadays robots are expected to be more powerful and more multi-functional,in order to meet requirements of various kinds of standards and work conditions.As the times requires,humanoid robot emerges.In recent years,humanoid robot has gradually become the focus in the field of robotics industry.As a crucial executive component of the humanoid robot,the performance of dexterous hand largely and directly affects the flexibility of the humanoid robot system in complicated work environments.Thus,many institutions and universities both in and abroad have done many researches on it and gained certain achievements since the 1980 s.Based on the summary of both merit and demerit of different types of dexterous hand devices in and abroad,this research points out the design defects of the dexterous hand named BeiHang BH-985.Meanwhile,the author put forwards his own design modification ideas from different aspects,such as the distribution of degrees of freedom,the design of the single-finger structure,the coupling transmission mechanism of fingertip,the anthropomorphic analysis of palm structure and the innovation of wrist structure.According to the grasping principle of multi-fingered dexterous hand,the focus of this research is mainly on the finger structure,overall arrangement and the distribution of freedom,etc.In addition,it also contains further argumentation and improved design on the multi-fingered humanoid dexterous hand,which is based on analysis of the characteristics of real people's hand.With the aid of SolidWorks,the author builds a 3D model of the multi-fingered dexterous hand and he designs creatively and analyses five fingers structure of dexterous hand the type S fingertip coupling transmission mechanism and the palm-concave-type humanoid appearance design as well as the parallel connection of wrist degrees of freedom to make the mechanical structure of a dexterous hand with more human nature.This research also includes the theoretical calculation of movement range and maximum torque of dexterous hand's fingers,which is basis of MATLAB and ADMAS,which testifies the correctness and soundness of the mechanical structure of the multi-fingered dexterous hand through modeling and simulation.As for the circuit and control part,solutions are proposed from those facets: selection of main control chip and buck chip as well as motor drive,control and speed regulation of dc motor,speed measurement,change motor control stability by PID,and communication mode,etc.Through which,it aims to accelerate processing speed of the system and to reduce volume of the dexterous hand,for purpose of improving movement stability and wireless operation.