Research On The Design Of Flexible Mechanical Finger Based On The Analysis Of Hand Grasping Behavior

As an important carrier for robots to interact with the real world,the flexibility and robustness of the robot determine the degree of intelligence and the richness of the functionality of the robot.As a new type of manipulator,the dexterous manipulator has a wider range of applications than conventional robots,but also has higher technical requirements.The study of mechanical fingers is an important basis for the study of flexible manipulators.In order to reduce the cost and enhance the reliability and stability of the manipulator,this paper studies and develops an underactuated anthropomorphic elastic joint manipulator.This paper analyzes the grasping behavior of human hands,uses motion capture equipment to obtain the motion information of common hand grabbing movements,analyzes the joint angle information of human hands under specific grasping movements,the trajectory of knuckles in space,and people.The correlation between the fingers and the kinematic coupling of the fingers and joints use these kinematic features to guide the design of the mechanical fingers.It is found that during the grasping process,the bending angle of the proximal joint and the middle joint is larger,and the bending angle of the end joint is smaller;the trajectory of the knuckle end of the human finger in the space is smooth;the thumb and the rest of the four fingers The correlation of motion is the smallest,the correlation between the index finger and the middle finger and the ring finger is higher;the movement between the three joints of the same finger has a coupling relationship,and the coupling relationship is linearly correlated.The advantages and disadvantages of the existing underactuated mechanical finger structure are discussed.The functional requirements of mechanical fingers and their limiting factors are discussed.An underactuated mechanical finger structure is proposed.The nonlinear finite element analysis is used to verify the feasibility of the structure and the prototype is fabricated.The kinematics equation of human finger is analyzed,and a kinematic equation for the mechanical finger of elastic joint is proposed.The fitting degree is verified and it is found that it can simulate the movement trajectory of mechanical finger within a certain error range.The elastic joint elements of the mechanical fingers were optimized experimentally.Provide support for the production of the robot.In the end,a prototype of a mechanical finger was made,and a multi-finger manipulator platform was developed.The joint motion of the robot and the envelope of the mechanical finger on the object were tested.The results show that the robot has certain dexterity and robustness.