Mechanical design and analysis of a novel dexterous hand based on grasping manipulation

摘要

Dexterous hands as a special kind of end-effector, their appearance and control sections are more anthropomorphic. However, it is difficult to form complete geometry and force close which directly lead to grasping manipulation not quite stable. This paper presents a novel underactuated dexterous hand that has 21 DOFs in total. By used the Denavit-Hartenberg (D-H) methodology, this paper accurately builds the kinematics model of fingers. Meanwhile, analyzing finger's dynamics with Lagrange equation method and studying finger's terminal pose to get the path planning. Programming and simulating with ADAMS and MATLAB software in order to translate Cartesian coordinate into joint space. Finally, this paper uses this dexterous hand to do some related grasping experiments. Comparing with motion simulation in order to verify the feasibility of mechanical design and the efficiency of robotics grasping manipulation. It can provide the foundation for dexterous hand to control and execute all kinds of grasping missions.