Under-actuated five-fingered dexterous hand control system

Abstract

Provided is an under-actuated five-fingered dexterous hand control system. The pulse width modulation (PWM) speed control of a direct current micro-motor is achieved through an AT89 C51 single-chip microcomputer, the motor can operate according to the set value, control over the forward rotation and backward rotation can be achieved, and meanwhile, the rotation speed of the motor can be fed back to the single-chip microcomputer through an encoder, so that closed-loop control over the speed is achieved. According to the control system, the direct current motor PWM speed regulating system based on the single-chip microcomputer is established, a control circuit is simple, programming is convenient, fast and easy, and the control effect is great.

Description

[0001] Technical field

[0002] The invention relates to an underactuated five-finger dexterous hand control system, which is suitable for the mechanical field. Background technique

[0003] The robot dexterous hand is an intelligent general-purpose manipulator researched and developed for multi-tasking. As an end clamping mechanism, it can grasp the target by directly acting on the target object. It can be used in space exploration, nuclear energy development, medical rehabilitation equipment, etc. fields have a wide range of applications. With the continuous advancement of the level of science and technology, the research of dexterous hands has gradually become a special research field in the field of robotics. Its research work has made great progress and has achieved many valuable results, such as Stanford / JPL hand, Utah / MIT hand, Gifu hand, HIT dexterous hand, BH dexterous hand, etc. Taking the Gifu hand as an example, it has more degrees of freedom and the number of d...

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