| China is the country with the most elderly population in the world.The aging of the population has spawned many family and social problems.With the increasing ageing of the population and the shortage of nursing staff,the huge market demand for the old-age care service robots has been created.At the same time,with the continuous development and advancement of artificial intelligence and robotics,it has become possible to enter a variety of service robots into ordinary families.The old-age care robot has to complete a series of fine operations such as pour water for the elderly,and a series of fine operations such as picking up pills.Therefore,a bionic dexterous hand for the nursing robot is needed.Firstly,this paper summarizes the advantages and disadvantages of the existing dexterous hands in different fields through the analysis of the research status at home and abroad,and combines the work requirements of the old-age care robot,and puts forward the dexterous hand drive transmission method.In order to make up for the shortcomings of traditional under-actuated dexterous hands in other fields,which can only perform simple envelope grasping and can not accurately grasp fingertips,the dexterous hand combination driving form and decoupable finger described in this paper are creatively proposed.The intercoupling transmission method combines the bionics analysis of the human hand to design the mechanical structure of each part of the dexterous hand,which makes the dexterous hand have the advantages of simple structure,various functions and strong interchangeability.Secondly,according to the structure of the dexterous hand,we use the robot theory to model and analyze it.According to the D-H parameters of the finger,we obtained the forward kinematics equation and the inverse kinematics equation.According to the forward kinematics equation,the workspace simulation of the thumb and index finger is carried out respectively,which proves the good performance of the dexterous finger.By using the Lagrangian method,the dynamic analysis is carried out,the dynamic model is established and solved,and the velocity analysis and static analysis of the finger are carried out by using the Jacobian matrix and the principle of virtual work.Then,the key parameters affecting the performance of the designed dexterous hand are calculated,analyzed and simulated.The spring for joint stop mechanism and decouplable coupling transmission mechanism is designed and manufactured;the factors affecting joint drive moment are analyzed,the driving form of fingers is optimized,and the joint drive moment is improved;the electromagnetic attraction in joint stop mechanism is simulated and analyzed,and the minimum electromagnetic attraction is obtained.We choose a suitable electromagnet to embed in the finger joint.Finally,the experimental design of the dexterous hand was designed,and the experimental system of the dexterous hand was designed.The dexterous hand physical experiment platform was built to verify the rationality of the dexterous hand joint rotation mechanism,which proved that the dexterous hand has a strong grasping ability.Taking the ability,it can adapt to the work needs of the old-age care robot;summarize the problems found in the experiment process,and look forward to the future improvement and development direction of this dexterous hand. |
PDF Full Text Request