Grasp Performance Analysis And Parameter Optimization Of A Novel Metamorphic Dexterous Hand

With the development of intelligent manufacturing and the rise of cooperative robots,the research of dexterous hand is imminent.However,the traditional dexterous hand has limited flexibility and can not complete complex and delicate work.Therefore,this dissertation innovatively introduces a new type of metamorphic dexterous hand,which introduces a metamorphic mechanism into the palm of the dexterous hand.Through the self-change of its configuration,it improves the working scope,enriches the finger posture,enhances the flexibility of grasping and the quality of operation,and provides a broader idea for the design and research of the dexterous hand.The coplanar metamorphic structure of the palm enables it to grasp accurately and forcefully through its own configuration transformation,which greatly increases the grasping adaptability of the dexterous hand.For this metamorphic dexterous hand,this dissertation introduces its basic mathematical properties and grasping performance,and optimizes the design size of the palm according to the grasping performance.The main contents of this dissertation are summarized as follows:?1?Establishment and analysis of the mathematical model of the novel metamor-phic dexterous hand.Based on the structure design of the nevol metamorphic dexterous hand,its metamorphic configuration and grasping type are analyzed.On this basis,the position and velocity model is established and the Jacobian matrix of the palm is obtained.Then the concepts of finger working plane and triangle of palm working space are introduced to further analyze the workspace.?2?Analysis of grasping flexibility of the novel metamorphic dexterous hand.The concept of grasping triangle is put forward,and the property of grasping flexibility is analyzed based on the grasping range,the size of the grasped object and the grasping posture.On this basis,the property of in-hand manipulation is analyzed based on the region,posture,the radius of the grasped object and the distribution scheme of the grasping point.?3?Analysis of grasping manipulability of new metamorphic dexterous hand.According to the condition of equal velocity of grasping point,the grasp Jacobian matrix is established,and determinant measure??J _G?is selected as the index basis for analysis.The analysis is based on the change of configuration,the size of the object being grasped and the grasping posture.?4?The palm parameter optimization of the new metamorphic dexterous hand.According to the two objectives of optimization,the objective function ₁F?X?is designed to count the number of value combinations satisfied the grasping tasks,and the objective functionF₂?X?is to count the number of effective operation combinations to satisfy??_GJ??29?1,and the corresponding optimization results are obtained.On this basis,the optimization based on comprehensive grasping performance is extended by weighting.