The Workspace Analysis and Simulation of a Novel Dexterous Hand FZU-Ⅰ

摘要

Manipulator is an important bridge to connect robot and environment. However the current manipulators that have been put into productions are accompanied by the poor flexibility, low operating performance, single grasp mode and other defects. In order to solve these problems, improve the flexibility of dexterous hand and lay the foundation for the later control experiment of dexterous hand, this paper will further analyze the working performance of the dexterous hand FZU-I. In this paper, the researches of the dexterous hand FZU-I include: introduce the overall structure, determine the range of motion of each base joint, obtain the workspace of finger-tip by using the forward and inverse kinematics model and MATLAB, analyze and compare the intersection space between thumb base joint under three different configurations and index finger. Through the above researches, it not only verify the feasibility of the forward and inverse kinematics solving model, but also analyzes the working performance of the dexterous hand FZU-I to some extent.