Abstract
To improve the operating performance of robots’ end-effector, a humanoid robot hand based on coupling four-bar linkage was designed. An improved transmission system was proposed for the base joint of the thumb. Thus, a far greater motion range and more reasonable layout of the palm were obtained. Moreover, the mathematical model for kinematics simulation was presented based on the Assur linkage group theory to verify and optimize the proposed structure. To research the motion relationships between the fingers and the object in the process of grasping object, the grasping analysis of multi-finger manipulation was presented based on contact kinematics. Finally, a prototype of the humanoid robot hand was produced by a three-dimensional printer, and a kinematics simulation example and the workspace solving of the humanoid robot hand were carried out. The results showed that the velocities of finger joints approximately met the proportion relationship 1:1:1, which accorded with the grasping law of the human hand. In addition, the large workspace, reasonable layout, and good manipulability of the humanoid robot hand were verified.
Highlights
Nowadays, due to the excellent characteristics, such as intelligent control, operation flexibility, and high degree of humanoid,[1,2,3] robots have been applied in many fields, such as medical science,[4] equipment maintenance,[5] aviation,[6] explosive ordnance disposal (EOD),[7] and industrial production.[8]
Because the humanoid robot hand is mainly used to complete grasping operation, the kinematics analysis of multi-finger manipulation is presented based on the contact kinematics
A humanoid robot hand based on the coupling fourbar linkage was designed and the prototype was developed
Summary
Due to the excellent characteristics, such as intelligent control, operation flexibility, and high degree of humanoid,[1,2,3] robots have been applied in many fields, such as medical science,[4] equipment maintenance,[5] aviation,[6] explosive ordnance disposal (EOD),[7] and industrial production.[8]. Because the humanoid robot hand is mainly used to complete grasping operation, the kinematics analysis of multi-finger manipulation is presented based on the contact kinematics. Coupling four-bar linkage is applied to the transmission mechanism of each finger This transmission mode has the advantages of small size, compact structure, and bigger output force.[3,24] reliable connection and high assembly accuracy between the linkages are the key factors of stable grasping for the humanoid robot hand. These factors are needed to be concerned in the design process.
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