Design and Control of a Tendon-Driven Robotic Finger Based on Grasping Task Analysis
Xuanyi Zhou,
Hao Fu,
Baoqing Shentu,
Weidong Wang,
Shibo Cai,
Guanjun Bao
Affiliations
Xuanyi Zhou
State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, China
Hao Fu
Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
Baoqing Shentu
State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, China
Weidong Wang
Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
Shibo Cai
Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
Guanjun Bao
Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023, China
To analyze the structural characteristics of a human hand, data collection gloves were worn for typical grasping tasks. The hand manipulation characteristics, finger end pressure, and finger joint bending angle were obtained via an experiment based on the Feix grasping spectrum. Twelve types of tendon rope transmission paths were designed under the N + 1 type tendon drive mode, and the motion performance of these 12 types of paths applied to tendon-driven fingers was evaluated based on the evaluation metric. The experiment shows that the designed tendon path (d) has a good control effect on the fluctuations of tendon tension (within 0.25 N), the tendon path (e) has the best control effect on the joint angle of the tendon-driven finger, and the tendon path (l) has the best effect on reducing the friction between the tendon and the pulley. The obtained tendon-driven finger motion performance model based on 12 types of tendon paths is a good reference value for subsequent tendon-driven finger structure design and control strategies.
