Abstract
In order to meet the needs of robot’s operating tools for different types and sizes, the dexterous hand is studied by many scientific research institutions. However, the large number of joints in a dexterous hand leads to the difficulty of motion planning. Aiming at this problem, this paper proposes a planning method abased on BPNN inspired by human hands. Firstly, this paper analyses the structure and function of the human hand and summarizes its typical strategy of operation. Secondly, based on the manual operation strategy, the tools are classified according to the shape and the operation mode of the dexterous hand is presented. Thirdly, the BPNN is used to train the humanoid operation, and then output the operation plan. Finally, the simulating experiments of grasping simple tools and operating complex tools are made by MATLAB and ADAMS. The simulation verifies the effectiveness of this method.
Highlights
As one of the greatest human inventions in the 20th century, robots are widely used in many fields to replace or assist the human on work
This paper presents a planning strategy based on BP Neural Network which enables the dexterous hand to use a wide range of tools like human and complete the operation task
The manipulator can't complete the delicate operation, this design concept showed a manipulator ’ s high adaptability to operate[5].Engineers from the German Space Center have developed the DLR Hand Arm System based on the full analysis of the human body's physiological structure
Summary
As one of the greatest human inventions in the 20th century, robots are widely used in many fields to replace or assist the human on work. This paper presents a planning strategy based on BP Neural Network which enables the dexterous hand to use a wide range of tools like human and complete the operation task. The manipulator can't complete the delicate operation, this design concept showed a manipulator ’ s high adaptability to operate[5].Engineers from the German Space Center have developed the DLR Hand Arm System based on the full analysis of the human body's physiological structure. This hand is very flexible, but it brings 38 motors and complex kinematic[6].
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