Design of Full-Drive Multi-finger Dexterous Hand

摘要

With the rapid development of science and technology in recent decades, the multi-finger dexterous hand has the characteristics of good flexibility and strong adaptability. At the same time, the development of service robots has further promoted the multi-finger dexterous hand. The performance of the multi-finger dexterous hand not only considers the ontology structure of the dexterous hand but is also closely related to its control method. Based on the ontology structure of the multi-finger dexterous hand, a transmission structure of the fingers is proposed. The revolute joint is designed for modular fingers. Afterward, the robotic kinematic and control algorithms are analyzed. According to the driving structure of the multi-finger dexterous hand, the hardware and software of the control system is designed. The visualization software of the multi-fingered dexterous hand is developed through simulation and teleoperation. Finally, the effectiveness of the proposed system is verified through the experiments.