Designing research of 3DOF humanoid hand with self-adaptation grasping

摘要

The 3DOF humanoid hand used in humanoid figure robot, which has the ability of self-adaptation to the geometric features of object being grasped was designed. On the basis of accomplishing the design of finger mechanism with the ability of self-adaptation grasping, the movement coupling relations among every joints of this finger mechanism were analyzed. Further more, the correctness of transmission system of the designed human hand mechanism and the feasibility of self-adaptation grasping were verified through virtual prototyping technique. Finally, the targets for measuring the grasping ability of humanoid hand were put forward and the grasping ability of the designed humanoid hand was analyzed. All results indicate that the finger mechanism is reasonable and practical; the humanoid hand being designed and accomplished has achieved the requests of design.