The structure design and control system on 12-DOF 4 fingers dexterous hand with link mechanism

• Main Author: Zhu, Quanqing
• Other Authors: Chen I-Ming
• Format: Theses and Dissertations
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: http://hdl.handle.net/10356/75852
• Institution: Nanyang Technological University

Base on the research in the robotics, the mechanical structure and control system are discussed in this dissertation. First, many design parameters for the mechanical dexterous hand are analyzed and discussed. Among the parameters, the transmission mode is the key point of this design. In this thesis, after the analysis of the traditional transmission mode for the dexterous hand, a link-driven mechanism will be designed. Second, the analysis of the mechanical structure and kinematic analysis of equivalent mechanism and concrete mechanism are presented. To make sure the continuous of motion for the finger, the analysis of zero point in the mechanism is necessary to determine the parameter of movement. The characteristics of dexterous hand have a direct relation with the dimension of three joints of the finger. From the analysis of force transfer, the performance of velocity to get the eligible and optimal finger. Some main design thoughts and drawing of important parts are provided. The four fingers are distributed in a plane symmetrically. Third, the pneumatic control system is provided to supply sufficient force for the overall system. Besides, the vacuum cupule will be an additional part to keep balance during the motion of grasp. The control system of vacuum cupule is also provided to explain how to work in this gripper system.