模块化磁吸五指灵巧手结构设计与控制研究

Study on the Structural Design and Control of Modular Magnetic Suction Five-finger Dexterous Hand

针对目前五指灵巧手自由度低、拆装繁琐等问题,设计出一种模块化、易拆装、直驱式11自由度五指灵巧手。通过永磁铁实现手指关节间的快速拆装,每个手指关节至少有±90°转动范围;通过对大拇指转动角度的特殊设计,可实现灵巧手左/右手模式直接切换以及双侧同时抓取。通过3D打印制作了五指灵巧手样机。针对灵巧手多传感器造成控制系统复杂的问题,提出采用电流反馈控制算法,通过对电机驱动电流进行信号采集和后处理,建立了电流-转角-指尖力之间的数学模型,并进行了抓取实验。结果表明,设计的模块化灵巧手具有较强的抓取能力,并且通过电流反馈控制算法,可以实现对灵巧手运动状态和抓取力的控制,完成对目标物抓取操作。

In order to solve the problems of low freedom of five fingers dexterous hand and complicated disassembly and installation,a modular,easy disassembly and installation,direct drive 11 degrees of freedom five fingers dexterous hand is designed.Each finger joint has a rotation range of at least±90°.Through the special design of the rotation angle of the thumb,the left/right hand mode of the dexterous hand can be directly switched and both sides can be grasped at the same time.A five-finger dexterous hand prototype is made through 3D printing.Aiming at the complex control system caused by multiple sensors of the dexterous hand at present,the current feedback control algorithm is proposed,through signal acquisition and post-processing of the motor drive current,the mathematical model of current-rotation angle-fingertip force is established,and the grasping experiment is carried out.The results show that the designed modular dexterous hand has strong grasping ability,and the control algorithm of current feedback can control the movement state and grasping force of the dexterous hand,and complete the target grab operation.