Research On Dexterous Operation Control Method Of Underactuated Robotic Hand

The dexterous robotic hand has great significance and application value in lots of areas.Given some examples,it is flexible in the mechanical and electronic assembly of industrial production line,as well as in the handling and packaging of logistics and storage.It is also benefit in several dexterous operations under special extreme environment which are unable for human to accomplish,such as minesweeping and bomb dismantling in the military field.Under the classification of robotic hand,the underactuated robotic hand has many characteristics such as light weight,easy integration and modular design,and effective adaptive grasping.The operation ability of this underactuated robotic hand can bring better accuracy,efficiency and motion redundancy to the arm-hand robot system.This research mainly focus on the following points :(1)Firstly,by analyzing the finger contact model,the constraint conditions between the position and pose of the object and the speed and force of the hand joint under the contact condition are given.At the meanwhile,the dynamic equation of the robotic hand when the finger operates the object motion is established.(2)Simplified the dynamic equations of object and fingers based on the dexterous operation of underactuated robotic hand,in order to design a controller which is free from its model.At the same time,analyzing the stability and error of the system according to Lyapunov criterion.(3)The grasping operability of robotic hand is analyzed to determine the operating region under the condition of stable grasping.Through the design of optimization index,the maneuverable region of robotic hand is further optimized.(4)Complete the whole design of the bottom control system of the new underactuated robotic hand,including the design of hardware driving circuit and embedded software.Accomplish and develop the multi-sensor fusion of the robotic hand which is focus on the fingertip tactile sensor.(5)Analyzing the finger mechanism of the new underactuated robotic hand based on its characteristics,and complete the two finger plane dexterous operation experiment.The results show that the robotic hand is able to control the object to track the desired trajectory and make the dexterous operation of the plane with three degrees of freedom come true.