Adaptive design and grasping motion analysis of a four-fingered dexterous hands

Abstract

This project intends to equip new irregular parts with strong adaptability grasping equipment, and it creates a four-finger dexterous hand with high dexterity and great adaptive capacity. Improving the structure by researching and analyzing the existing multi-finger dexterous hand structure and movement mode, creating a 3D model of the four-finger dexterous hand with SolidWorks software, and calculating the DH parameters and kinematics equation of the dexterous hand on this basis. The motion of a single finger was further analyzed using MATLAB software, and its motion parameters were determined. Simulating grasping in SolidWorks Motion was utilized to evaluate the rationality of its motion grasping, and the appropriate control system was built and selected at the same time. Finally, the conclusion was formed that the four-finger dexterous hand can adapt to gripping irregular parts, and plausible ideas and genuine parameters were offered for the dexterous hand's continued use and improvement.