Design And Movement Realization Of Follow-up Robot Manipulator

With the rapid development of science and technology and the improvement of people’s living standards,the disabled pay more and more attention to the rehabilitation of prosthetic hand and people are eager to free from the harsh working environment,and in recent years,scientific and technical workers have already made some achievements in the studies on manipulator.Although the currently developed anthropomorphic manipulator can grasp and operate objects,but limit the scope of use to a certain extent,due to single grasping application,poor universality,high cost,complex control.Based on the design criteria of users’ demands,simple operation and low cost,it is pretty necessary to develop a kind of manipulator characterized with low cost,simple control,small size and grasping with the shape.The use of underactuated principle,the transmission mechanism using differential drive mechanism,driven by a single drive motor,designing a kind of anthropomorphic manipulator characterized with simple structure,small size,simple control,low cost,and grasping with the shape.The robot can accomplish automatic control of grasping force in each finger,and this feature allows the manipulator automatically adjust the position and grasping force while grasping objects.First of all,through the analysis of the status quo of the development of the manipulator at home and abroad,clear design tasks.Through the comparison and analysis of the application of the driving technology and the transmission mechanism,the driving scheme and the transmission mechanism of the manipulator are determined.Thirdly,from the point of view of bionics and anatomy,the paper analyzes the human structure and function,and provides a reliable design parameter and basis for the design of the grasping-with-shapes manipulator and based on this,finishes the detailed structure design of index finger,middle finger,ring finger,thumb and palm of grasping-with-shapes multi-fingered manipulator.Finally,According to 3-D mechanical model of the grasping-with-shapes manipulator,the kinematic model of the grasping-with-shapes manipulator by D-H parameter method,and the motion parameters of the known joints,the kinematics positive solution equation is deduced and the position of the relative reference coordinate system at the end of the finger is given.Based on the given position of the finger end that satisfies the job requirement relative to the reference coordinate system,the inverse kinematics equation of the manipulator is deduced,and the motion parameters of each joint are obtained.The relationship between the manipulator speed and the corresponding joint velocity is analyzed by the comparable matrix.The moving parameters required for joint motion are achieved by the control system,and thedesired position of the manipulator is achieved,which lays the foundation for the control of the manipulator and the realization of the grasping.