Motion Control of 3-DOF Under-actuated Cable-truss Robotic Hand

doi:10.3901/JME.2020.23.078

Abstract

Abstract: The cable-truss robotic hand is a novel type of under-actuated hand that is proposed by tendon-pulley transmission and parallel four-linkage mechanism. The joint movements are driven by cable driving force simultaneously and coupled with each other, and which directly changes the distribution of cable driving force in each phalange. Therefore, the cable-truss underactuated system has the characteristics of strong nonlinearity and motion coupling. Then, the finger driven by the TP transmission is translated to the equivalent joint driven mechanism, and a quasi-static kinematic model of a 3-DOF finger is established. On the basis of the constraints of maximum movement space of the finger, the distributions of joint springs are determined and the finger quasi-static movement space is analyzed. The general dynamic equation of the finger is established by using Lagrange's method, and the equivalent dynamic model in "A-P" form is obtained. On the basis of "A-P" dynamic model, research on motion control in the pre-bending stage is carried out. The effectiveness of the proposed analysis method and motion control strategy is verified by simulation analysis and prototype experiment.

Key words: underactuated hand, cable-driven mechanism, underactuated control, motion space, dynamic model

CLC Number:

TP241

QIAO Shangling, LIU Rongqiang, GUO Hongwei, DING Shuchen, LI Bing, DENG Zongquan. Motion Control of 3-DOF Under-actuated Cable-truss Robotic Hand[J]. Journal of Mechanical Engineering, 2020, 56(23): 78-88.

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