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Under-actuated five-fingered dexterous hand control system

A control system and dexterous hand technology, which is applied in the field of underactuated five-finger dexterous hand control system, can solve the problems such as the difficulty of trajectory tracking, and achieve the effects of good control effect, convenient programming, and simple control circuit

Inactive Publication Date: 2017-06-20
魏莹
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the underactuated finger realizes the self-adaptive grasping of the finger through the spring and the limit element, and is also affected by the elastic element and the limit element, which leads to the precise control of the robot finger and the difficulty in trajectory tracking. Therefore, a reasonable simplified structure is selected. And controlling the finger movement mode and expression form is an important task for the realization of the underactuated finger control function, which is simple and practical

Method used

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  • Under-actuated five-fingered dexterous hand control system
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  • Under-actuated five-fingered dexterous hand control system

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Embodiment Construction

[0014] The present invention will be further described below in conjunction with drawings and embodiments.

[0015] Such as figure 1 , the control system uses AT89 C51 single-chip microcomputer to realize the PWM speed control of the micro DC motor. The motor can run according to the set value, and can realize the forward and reverse control. At the same time, the speed of the motor can be fed back to the single-chip microcomputer through the encoder to realize the closed-loop control of the speed .

[0016] The hardware circuit of the control system mainly includes several parts such as PWM signal generation circuit, motor drive circuit, speed feedback detection circuit, keyboard and display. Among them, the PWM signal generation circuit mainly adds a high-speed photoelectric isolation device between the single-chip microcomputer circuit and the motor drive amplifier circuit to generate a PWM signal and invert the PWM signal, that is, the high-level duration of the PWM signa...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J9/16
Inventor 魏莹
Owner 魏莹
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