Study On The Structure Design And Grasping Control Of Bionic Hand

With the progress of the society and the development of robot technology,people pay more and more attention to the bionic dexterous hand.In this paper,a new type of bionic hand has been developed primarily based on human bionics,robotics,mechanisms,computers and other science and technology.It can be used at the end of the robot as an executive body,can also be used in the arm of the amputee to meet the daily needs of life.First,this paper summarizes the development status of bionic dexterous hand at home and abroad,and analyzes the advantages and disadvantages of the bionic hand.By comparing the existing drive method and calculating the transmission torque and speed,the transmission mode is determined.And then based on the physiological structure of adult hand and bionic,the plastic structure of the bionic hand is designed.The structure uses a modular design,including the five-finger module and palm module.the size is closed to the adult hand,with a simple structure,lightweight and flexible,low cost characteristics.Secondly,the mathematical modeling and analysis of the bionic hand are carried out.The kinematics model of bionic hand is established by D-H method,and the kinematics equation and the inverse kinematics equation have been obtained;The working space and grasping range of the bionic hand are analyzed;The dynamic model are established by Lagrangian method and its static and dynamic are analyzed,to provide a theoretical basis for simulation and control.Then,the simulation of the bionic hand,including motion simulation and grasping simulation,verifies the rationality of its structure,the working space and the motion performance.At the same time,the PID control of single finger is carried out,obtains the variation law of angular velocity,angular acceleration and torque of each joint,and studies the characteristics of finger in gripping process.Finally,producing the prototype,and doing the experiment of the bionic hand grasping objects.Drawing parts drawing of the bionic hand,processing and assembling it.Select the appropriate driver chip to achieve the control of the six motors.Test the outputof the fingertips of the bionic hand,and analyze the output characteristics of the fingertips and the reasons for the differences.Simulation of the movement of the fingers to grasp the object,verify the rationality of the bionic hand structure and grasp the characteristics.