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Design and modeling for a kind of humanoid dexterous hand with elastic palm
  • 时间:0
  • 分类:TH6[机械工程—机械制造及自动化]
  • 作者机构:[1]School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081, China, [2]China Academy of Space Technology, Beijing 100094,China
  • 相关基金:Supported by Beijing Science Foundation (4122065) ;National Science Foundation for Distinguished Young Scholar (60925014)
中文摘要:

With dexterous hands,robots can improve the work scope and work ability significantly.As palms of the existing multi-hand robots are made of steel plates that have small contact area,the robots cannot grab firmly.In this study,a new five-fingered dexterous robot hand is developed.Having flexible palm with 17degree of freedoms(DOFs),the hand can grasp more stably and firmly.First,the forward kinematics and inverse kinematics of the fingers and the hand are calculated.Then,the connection between the force exerting on the end effectors and the torque exerting on the joint is set up,laying the foundation for the following control.Finally,through the analysis and simulation of the position,velocity and acceleration,the trajectory planning has a better performance.

英文摘要:

With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. In this study, a new five-fingered dexterous robot hand is developed. Having flexible palm with 17 degree of freedoms ( DOFs), the hand can grasp more stably and firm- ly. First, the forward kinematics and inverse kinematics of the fingers and the hand are calculated. Then, the connection between the force exerting on the end effectors and the torque exerting on the joint is set up, laying the foundation for the following control. Finally, through the analysis and sim- ulation of the position, velocity and acceleration, the trajectory planning has a better performance.

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