Design And Analysis Of Multi-fingered Dexterous Hand Based On Parallel Mechanism

Multi-fingered dexterous hand is a kind of end-effector of robot.It imitates the shape of human hand,has multi-finger,multi-joint,multi-degree of freedom,and has the function similar to human hand.At present,most dexterous hands adopt series mechanism,which is simple in structure and easy to control,but has some shortcomings,such as low grasping accuracy and poor stability.Parallel mechanism has natural advantages in these aspects,and has the characteristics of high flexibility,high accuracy and high work adaptability.Therefore,this paper designs two kinds of multi-fingered dexterous hands which satisfy the movement type of human hand based on the movement ability of human hand,and does the following work with this goal:Firstly,based on screw theory and virtual chain method,a three-degree-of-freedom finger mechanism and a Four-Degree-of-Freedom finger mechanism are proposed.In order to solve the problem of interference between parallel mechanisms,a limit mechanism of finger is designed.Referring to the size of hand and the size of current dexterous hand,two kinds of finger mechanisms are designed and modeled.Then,through theoretical calculation,kinematics analysis of the two finger mechanisms is carried out,including forward and reverse solutions,speed,acceleration,work space and so on.The performance of the parallel finger mechanism is compared with that of the serial finger mechanism,and the reliability of the parallel finger mechanism is verified.Then,two kinds of finger mechanisms are designed and combined to form two parallel multi-fingered dexterous hand configurations.The motion ability of these two dexterous hands can be obtained by analyzing their equivalent parallel mechanisms.The rationality of the design is verified by analyzing the motion ability of the dexterous hand before and after grasping.Finally,this paper uses genetic algorithm to optimize the size of parallel multi-fingered dexterous hand.Solidworks software is used to analyze the whole and part of the force of parallel multi-fingered dexterous hand.ADAMS software is used to simulate and analyze the parallel multi-fingered dexterous hand.The research results verify the correctness of the theoretical calculation.