Kinematics Analysis And Grasping Simulation Of Three Fingered Dexterous Hand

In the context of the transformation and upgrading of the manufacturing sector,more and more robots are applied to all walks of life,the actual production of different kinds of robots need to install different types of end actuator.The traditional end actuator is designed for a specific task,the structure is simple,easy to control,but the general versatility is poor,low acquisition accuracy.The robot dexterous hand is a kind of end effector which can realize the flexible grasping and operation to the objects with different shapes.In order to improve the versatility and precision of robotic end actuators,this paper designs a three-fingered dexterous hand based on the analysis of dexterous hand research at home and abroad.1.From the point of view of bionics,the research on the structure of human hand,provide a reference for the structure design of the dexterous hand.The design of the three fingered mechanical structure,including the structure design of whole structure and the single finger.Based on analyzing the advantages and disadvantages of various common driving system and transmission system,using the micro motor of finger joints drive,transmission drive system adopts bevel gear transmission to realize the motion and force,finger knuckles and knuckles were far in the coupling motion through the wire rope coupling mechanism.2.The kinematic analysis of the dexterous hand,established the transformation between the finger end and the base coordinate system by using D-H method,the kinematics equation of the fingers,and obtained the positive and inverse solutions,lays the foundation for the study of dexterous hand grasp planning and control.On this basis,the grasping operation of the dexterous hand is analyzed,and the grasping balance equation is obtained.The balance equation describing objects by external objects,and finger contact force,a joint torque balance between the three relations;operation description objects,object and finger contact points and finger joints between the three movement.3.The three fingered dexterous hand grasps the spherical object in the simulation software Adams.Draw the three fingered model in Solidworks,and then convert the model to Adams to identify the format and import it into Adams,and the software settings in Adams working environment,the definition of material properties of each joint dexterous hand,the finger joints add motion and drive side.Then the three fingered dexterous hand is used to carry on the fine grasping and the envelope grasping experiment of the spherical object.The simulation results show that the structure design of the dexterous hand is reasonable,and can realize the precise grasping and the envelope grasping of the spherical object.