Design and Simulation of a Five-finger Dexterous Hand with Side-swinging Tendon Drive
In order to realize the purpose of five-fingered dexterous hand for stable grasping of various objects,for the problems of complex structure and high cost of dexterous hand,a finger side-swinging scheme based on turbine-worm drive is proposed.A humanoid five-fingered dexterous hand with tendon rope as the drive scheme is designed,which has the advantages of simple drive,light weight,and low cost etc.The kinematic model of dexterous finger is established by using D-H meth-od,and the working space of finger is analyzed by using MATLAB's robot toolbox,a virtual model of this five-fingered dexterous hand is created by using ADAMS software to analyze the effectiveness and grasping feasibility of this design.
万方数据
维普
