Design and simulation of humanoid dexterous hand based on worm gear

摘要

Humanoid robots have broad development prospects, and the global market size is expected to break through hundreds of billions of dollars, but the current humanoid robot market is still in the exploration stage. Dexterous hand as the end effector of robot and environment, is an important part of the development of intelligent humanoid robot, but dexterous hand in the realization of mass production, large-scale use of the road, there are still many problems to be solved. In this paper, aiming at the complex joint structure of humanoid dexterous hand, as well as the sliding and turning problems, combined with the analysis of the structure and function of the human hand, a five-finger dexterous hand based on worm gear structure is designed. It has the advantages of simple structure, saving the internal space of the hand and self-locking. The kinematic model of the dexterous hand is established by using solidworks. The dexterous hand consists of 5 fingers with the same structure and a palm. ADAMS software is used to create a virtual model of dexterous hand, and the grasping test and self-locking function verification of five-finger dexterous hand are carried out. The results show that the dexterous hand based on worm gear structure can be applied to the needs of daily life, industry and service industry.