Structural Design and Parameter Optimization of Tootharrangement Three-fingered Dexterous Hand

摘要

Based on analysis of human hand grasp, the finger number and the kinematic pair pattern are decided. Aiming at the parameters of each finger, this paper proposes a multiobjective function for optimizing the structure of multi-fingered hand. Considering the peculiarity of tooth-arrangement and dexterous hand grasp, the constraints are established, and a satisfactory result is gained. Furthermore, this paper analyses the optimal results, and puts forward a law of parameter optimal design. It is proved that this optimization method is effective to optimize the relation of each parameter and make it integrated optimum under each standard.