Study on Design and Grasping of Three-Finger Robot Hand
At present,although the traditional multi-fingering humanoid dexterous hand has achieved high dexterity and humanoid imitation,it has the disadvantages of cumbersome design or expensive and weak grip at the end of the finger.As a simplified method,the three-finger robot hand generally has the problem of low dexterity.A three-finger robot hand based on slider-rocker mechanism is designed.The coupling motion of middle phalanx and distal phalanx can be realized by directly comparing the structure with the finger joint de-signed by human hand,and the fingertip force will increase with the increase of finger curvature,which is beneficial for fingertip pinching of small objects.Different from the traditional yaw-pitch type,the wrist-pitch type palm-finger structure is designed to enrich the grasping posture of the claw as much as possible while in-creasing the rotational freedom along the palmar-root joint,so that it can adapt to more targets and increase its dexterity.The kinematics model of finger is established in MATLAB and the working space of finger end is obtained.The experimental results show that the hand has large grasping force and rich grasping posture.
robotic handgrasping forceslider-rocker mechanismdexteritywork space
万方数据
维普
