仿人型灵巧手拇指灵巧性设计方法的研究-机械电子工程专业论文.docxVIP

Abstract Despite the multi-fingered dexterous hand is attracting great attention by research institutions all across the globe with its multi-DOF, multi-sensing and impressive manipulation capabilities, little material has mentioned how its thumb was designed. Among most of thumb designs, many simply modularized the thumb design similar to the other fingers by putting the thumb opposable to them. In fact, the reason why humans can operate both power grasp and precision grasp within the same hand is due to the thumb. In view of this, this article took a research on the thumb design from the point of anthropomorphic hand and dexterity. First, the configuration of the thumb was analyzed with theories of anatomy and biomechanics in sports. Joint motion of the thumb was analyzed and simplified according to the joint function, and based on what 15 thumb configurations applicable to the dexterous hand were given, while analyses on the configuration features of the thumb were taken at the same time according to the direction dexterity, which provided preliminary bases on thumb configurations. Second, a general method of determining the thumb position on the palm was given, according to human hand grasp mode and based on the Euler Theorem about Finite Rotation of Rigid Body. Meanwhile, optimization index of those relative parameters were provided according to dexterity. A new dexterity index was brought up with the isotropic of both velocity and acceleration while taking how the workspace volume can affect the robot performance into account and a corresponding calculation method was brought up based on Monte Carlo method. A global measurement of multi-fingers manipulation dexterity was created according to parallel robot and the corresponding calculation method was brought up. A grasp ability measurement of the dexterous hand was given from how the hand operates when grasp both large and small objects, and the corresponding calculation method was brought up. Finally, an imp