Beruflich Dokumente
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Dexterous Hand
School of Technology
Mechanical Engineering Technology
Outline
Introduction
Goals of Design
Hand Configuration
Finger Design
Grasping Simulation
Introduction
What is robotic dexterous hand?
- a special kind of end-effector
- fundamental function: grasping and manipulation
- at least 3 fingers
- at least 9 degree of freedoms
Introduction
Potential applications
- in extreme or harmful environments
eg. aerospace, underwater, nuclear, military
- service and entertainment
eg. humanoid
Introduction
Design problems:
- complex procedure of iteration, selection and decision-making
- many activities: analysis, synthesis and integration
- subsystems: motion, sensing and control.
Specification:
- finger tip normal force: ≥10N
- size: close to human hand size
- active joint velocity: ≥ 1rad/s
- joint motion range: referred to human hand
- weight: ≤1.5kg
Hand Configuration
DOF allocation
Total:11
-thumb: 3
-index finger: 3
-middle finger: 3
-ring finger: 1
-pinky: 1
Hand Configuration
Acronyms of phalanges and joints
DP: Distal Phalanges
MP: Middle Phalanges
PP: Proximal Phalanges
0~150
a1=70 0~50
thumb
a2=45 0~90
a3=35 0~60
-20~20
the other a1=70 0~90
fingers
a2=45 0~90
a3=35 0~60
Finger Design
Transmission and structure design
To acquire compact structure and required
finger functions, bevel gears, cable, and
linkage mechanism are used.
z1
θ1 = φ1
z3
z1 z4 z
θ2 = φ1 + 2 φ2
z3 z5 z5
Linkage a 70 66 6 6
Linkage b 45 42 8 7
Linkage a Linkage b
Finger Design
Solid model of ring finger
Finger Design
•thumb & pulm
similar to that of index finger
difference:
TMPJ shaft & abduction shaft: 30°twist angle
Finger Design
Solid model of thumb
Finger Design
Physical prototype
Grasping Simulation
Purpose
to verify the grasp ability of BH985 dexterous hand
Method
3D Solid modeling: in Solidworks software
Grasp simulation: in ADAMS/VIEW software
Compared with human grasp
Grasping Simulation
Human grasp classification