Humanoid Design And Motion Control Of Multi-finger Dexterous Hand

The ever-changing demands of industrial automation and space technologies have promoted the rapid development of robotics technology.The traditional robotic end effectors are difficult to perform dexterous operations,so there is an urgent need for a robotic hand to perform some complex manipulation instead of humans.The humanoid dexterous hand possesses many degrees of freedom and human-like perception control characteristics,and has become the current research hotspot.This paper focuses on the research of humanoid dexterous hand with high-density tactile sensor.Research on the structure of humanoid dexterous hand with tendon driven and analyze kinematics characteristics of humanoid dexterous hand.Research on and realize fuzzy adaptive control algorithm and the dexterous hand movement control.The primary work is as follows:(1)A new type of tendin-drive dexterous hand structure is designed.It is accomplished the analysis of tendon-drive dexterous hand,modeling and analysis of single finger.Through deducing its kinematics,inverse kinematics,the relationship of joint and finger end force,its operable space is discussed.(2)The novel fingertip tactile sensor with a high-density array is studied,whose working principle and structural features are discussed.The sensor has a ring structure similar to that of human sensors.And the relevant performance of the sensor is verified by the recognition experiment of fingertip motion state.(3)The hierarchical control system for dexterous hands is proposed.The motor control algorithm based on fuzzy adaptive algorithm is adopted to reduce the overshoot of the system and save the adjustment time so that the dexterous hand can operate efficiently.(4)The experiment with the humanoid dexterous hand is carried out and analyzed.The performance of the dexterous hand system is researched through position control,force control and grabbing experiment respectively.The experimental results shows that the designed dexterous hand has reasonable structure,excellent sensor performance and stable control system.