Optimal design of structural parameters of 4 DOF robot finger

摘要

The multi fingered robot hands constructed by redundant fingers are more dexterous and have bigger possibility to finish fine operation and to grasp objects with complicated shape. This paper studies the structural design of a redundant robot finger by optimal design method, presents the goal function suitable for dexterous robot hand optimal design, writes the optimal program, proceeds the optimal calculation, and gets the ideal results finally. The authors designed the detail structure of a 3 finger 12 DOF palmed dexterous hand by redundant fingers and its optimal parameters, and gave its 3D drawing, and the hand could be used in many cases and has great dexterity.