Master-Slave Design and Control of Five-Finger Dexterous Hand Based on Tendon-Sheath Transmission

DEStech Transactions on Materials Science and Engineering Pub Date : 2021-04-07 DOI:10.12783/DTMSE/AMEME2020/35583

Shixuan Zhang, Zhigang Xu, Meng Yin, Wan-Cheng Wang

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Abstract

In order to make the dexterous hand more lightweight and anthropomorphic, a 19-joint anthropomorphic dexterous hand driven by the servo through the Tendon-Sheath transmission was designed. First, the configuration of the dexterous hand is determined with reference to the joints of the human hand, and the decoupling and driving of the joint motion are realized through the Tendon-Sheath transmission, and the joint mechanism and the driving integration are designed respectively. Then, based on the bending sensor and master-slave mapping algorithm, the grasping master-slave tracking control is realized. Finally, a dexterous hand prototype is built, joint motion experiments and grab control experiments are carried out. It can be seen from the experimental results that the designed dexterous hand has high movement flexibility, and the cooperation of each finger can realize the effective grasping of objects such as water bottles and apples. The experimental results show that it is feasible to apply the Tendon-Sheath transmission to the dexterous hand. Based on the master-slave control, the dexterous hand can grasp various objects.

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基于腱鞘传动的五指灵巧手主从设计与控制

为了使灵巧手更加轻量化和拟人化，设计了一种由伺服机构通过腱鞘传动驱动的19关节拟人化灵巧手。首先，参照人手的关节确定灵巧手的构型，通过肌腱鞘传动实现关节运动的解耦和驱动，并分别设计了关节机构和驱动集成;然后，基于弯曲传感器和主从映射算法，实现了抓取主从跟踪控制。最后，建立了灵巧手原型，进行了关节运动实验和抓取控制实验。从实验结果可以看出，所设计的灵巧手具有较高的运动灵活性，各个手指的配合可以实现对水瓶、苹果等物体的有效抓取。实验结果表明，将肌腱鞘传动技术应用于灵巧手是可行的。基于主从控制，灵巧手可以抓取各种物体。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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DEStech Transactions on Materials Science and Engineering

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