Design And Analysis Of Soft-rigid Tendon-driven Bionic Hand

With the development of robot technology,people have higher and higher requirements for manipulator.A bionic hand with excellent performance can be used as human prostheses,and widely used in life service and military fields.The traditional rigid manipulator does not have flexibility,so it requires precise control,and it is easy to damage the grasped object.However,most of today's soft hands are usually driven by gas,which has difficulties in the manufacturing process,and requires external pneumatic components for air supply.It is also limited by the weight and space.Therefore,a new type of soft-rigid tendon-driven bionic hand is designed in this paper.The device is made of flexible joints and rigid phalanges.It is easy to make,economical and light.It has good flexibility and can grasp various shapes of objects.The specific research content of this paper is as follows:A new type of soft-rigid tendon-driven bionic hand is designed.By studying the bionic mechanism of human hand,the device is designed based on the structure and grasping mode of human hand.It consists of five fingers.Each finger consists of two silicone flexible joints and three rigid phalanges.Underactuated tendon rope transmission is adopted as its driving motion.At the same time,the rebound system is designed and the driver is selected.Finally,the 3D model is built in Solid Works.The kinematic model of the grasping device is established.The mapping relationship between the space of driving,the space of joint variables and the space of joint variables and the space of task is established by the piecewise constant curvature rule,and the end coordinates of fingers are solved by using the D-H method.In MATLAB,the kinematics simulation is carried out,and the motion space of each finger tip is obtained.The results show that the interaction range between thumb and other fingers is large,which verifies the rationality of the grasping range of the device.The mechanical model of fingers is established,and the factors that affect the flexion of flexible joints are analyzed.Based on Yeoh constitutive model,the flexible joint is analyzed.Through finite element analysis of ANSYS and tensile test of silicone,the flexible joint is optimized.And the dynamic characteristics of flexible joints are analyzed by ANSYS dynamic simulation.The physical production is completed and the experimental platform is built,and based on control board of Arduino,an experimental platform is built to control finger bending simply.The performance of the grabbing device is measured,and the grabbing experiments of different objects are completed.The results show that the grabbing device has good self-adaptive ability and can complete the grabbing of many objects.Finally,by experiments and theoretical analysis,the soft-rigid tendon-driven bionic hand is easy to make and has good adaptability,which can grab some objects in daily life.