Research On Cooperative Driving Principle And Design Method Of Three-finger Manipulator

The robot hand is the main execution component for the robot to interact with the work environment.The main function of the robot hand is embodied in both grasping and operation,that is,the robot hand should have the ability to stably grasp different objects,and the ability to manipulate the object to some extent like a human hand.The studies of robot hands are divided into two categories: fully driven hands and under-actuated hands.Each DOF in the fully driven hands is driven by an independent drive,so the fully driven hands have a high degree of dexterity.In the under-actuated hands,the number of drives is less than the number of DOFs,so the control is more simplified and the size is generally smaller than that in the fully driven hands.And the under-actuated hands tend to have good adaptability to object shape,so it has become a hot topic in recent years.The main research work of this thesis is as follows:(1)From the perspective of bionics,the design goal of the manipulator that is closer to the physiological characteristics of the human hand is determined through the research on the grasping posture and grasping characteristics of the human hand,including the number of fingers,the manipulator's degree of freedom configuration,the driving configuration and so on.(2)Several finger mechanism design schemes and side pendulum mechanism design schemes are proposed,and the best of them is adopted as the final scheme of the manipulator.Design the manipulator transmission system and select the main parts of the transmission system,such as wire rope,ball screw and motor module.(3)Through the analysis of the transmission system,the corresponding relationship between the output shaft angle of each drive motor and the joint angle of each finger controlled by such motor is obtained,and the kinematics formula analysis is completed.The joint simulation platform of UG and MATLAB was built to complete the pre-grasping simulation of the manipulator under the combined action of elastic coupling and rigid coupling,and to realize the recurrence of 33 grasping gestures of the manipulator in the hand grasping spectrum.(4)Fingertip grasping force experiment and finger gripping force experiment were carried out to verify the grasping force of the manipulator;in order to verify the grasping ability of the manipulator,the grasping experiments of the manipulator on various shapes were carried out.