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Design of Robotic Dexterous Hand

This document discusses the design of a robotic dexterous hand. It begins with an introduction to dexterous hands and their potential applications. The goals of the design are then outlined, including specifications around force, size, speed, and range of motion. The hand configuration is explained, allocating degrees of freedom among the fingers. Finger design details are provided for each type of finger, including length, joint angles, transmission methods, and solid models. A grasping simulation is described to verify the hand's ability to perform common grasp types like cylindrical and power grasps. In conclusion, the hand is found capable of grasping typical object shapes through various grasp configurations.

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Alfonso Cruz
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115 views

Design of Robotic Dexterous Hand

This document discusses the design of a robotic dexterous hand. It begins with an introduction to dexterous hands and their potential applications. The goals of the design are then outlined, including specifications around force, size, speed, and range of motion. The hand configuration is explained, allocating degrees of freedom among the fingers. Finger design details are provided for each type of finger, including length, joint angles, transmission methods, and solid models. A grasping simulation is described to verify the hand's ability to perform common grasp types like cylindrical and power grasps. In conclusion, the hand is found capable of grasping typical object shapes through various grasp configurations.

Uploaded by

Alfonso Cruz
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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Design of Robotic

Dexterous Hand

Jiting Li, Mileta M. Tomovic

School of Technology
Mechanical Engineering Technology
Outline
Introduction

Goals of Design

Hand Configuration

Finger Design

Grasping Simulation
Introduction
What is robotic dexterous hand?
- a special kind of end-effector
- fundamental function: grasping and manipulation
- at least 3 fingers
- at least 9 degree of freedoms
Introduction
Potential applications
- in extreme or harmful environments
eg. aerospace, underwater, nuclear, military
- service and entertainment
eg. humanoid
Introduction
Design problems:
- complex procedure of iteration, selection and decision-making
- many activities: analysis, synthesis and integration
- subsystems: motion, sensing and control.

Here we only address the motion subsystem.


Introduction

We take BH985 dexterous hand as example.


It was developed at Robotics Institute at Beihang
University of P. P. China.
Goals of Design
Application:
- top level control strategy
- grasp planning algorithm

Specification:
- finger tip normal force: ≥10N
- size: close to human hand size
- active joint velocity: ≥ 1rad/s
- joint motion range: referred to human hand
- weight: ≤1.5kg
Hand Configuration
DOF allocation
Total:11
-thumb: 3
-index finger: 3
-middle finger: 3
-ring finger: 1
-pinky: 1
Hand Configuration
Acronyms of phalanges and joints
DP: Distal Phalanges
MP: Middle Phalanges
PP: Proximal Phalanges

DIJ: Distal Interphalangeal Joint


PIJ: Proximal Interphalangeal Joint
MPJ: Metacarpal Phalangeal Joint

TDP: Thumb Distal Phalanx


TPP: Thumb Proximal Phalanx
TM: Thumb Metacarpal

TIJ: Thumb Interphalangeal Joint


TMPJ: Thumb Metacarpal Phlangeal Joint
TMJ: Trapeziometacarpal Joint
Finger Design
Types of fingers
• thumb
TMJ is represented with joint1&joint2
for description simplification
joint1: independent flexion
joint2: independent abduction
joint2 & joint1: perpendicular
TMPJ & joint2 : parallel
TIJ & TMPJ: 30°angle
motion of TIJ: coupling with TMPJ
Finger Design
• index & middle finger
MPJ is represented with joint1&joint2
for description simplification
joint1: independent abduction
joint2: independent flexion
joint2 & joint1: perpendicular
DIJ ⁄⁄ PIJ ⁄⁄ joint2
motion of DIJ: coupling with PIJ

• ring & pinky


differences from index finger:
joint1: only passive abduction
DIJ&PIJ: coupling with joint 2
Finger Design
 Finger length
Equal length for every finger, take index
finger for example.
Referring to human hand,
a1:a2:a3=2:1.35:1
a1 is first determined according to the size of
motor put inside PP.
Length of other phalanges is determined
approximate to the above mentioned proportion.
Finger Design
In addition, the joint angle range is also
referred to that of the human hand.
See the following table for finger length
and joint angles.

Tab. finger length and joint angle

finger Length/mm Angle/(°)

0~150

a1=70 0~50
thumb
a2=45 0~90
a3=35 0~60
-20~20
the other a1=70 0~90
fingers
a2=45 0~90
a3=35 0~60
Finger Design
Transmission and structure design
To acquire compact structure and required
finger functions, bevel gears, cable, and
linkage mechanism are used.

We describe next respectively for different


types of fingers.
Finger Design
• Index finger (middle finger)
metacarpo: fixed on the palm,
accommodating 2 motors
PP: accommodating 1 motor
DP: assembled with 6D fingertip force sensor
Finger Design
MPJ:
cross shaft: flexion shaft fixed together with abduction shaft
Transmission routes:
motor1-> bevel pinion1-> bevel gear3-> abduction shaft->PP abduction
motor2-> bevel pinion2-> bevel gear4-> bevel gear5-> flexion shaft-> PP flexion
Finger Design
Calculation of θ1 and θ2:

z1
θ1 = φ1
z3
z1 z4 z
θ2 = φ1 + 2 φ2
z3 z5 z5

where θ1: PP abduction angle


θ2: PP flexion angle
Φ1: rotation angle of gear1
Φ2: rotation angle of gear2
zi: teeth number of each gear  1
 1θ = φ1
Here we let 2z1=2z2=z3=z4=2z5, therefore  2
θ 2 = φ1 + φ2
Finger Design
Coupling principle of DIJ & PIJ
Transmission routes:
motor3-> bevel pinion6-> bevel gear7-> MP flexion
motor3-> bevel pinion6-> bevel gear8-> roller1-> cable-> roller2->DP flexion
Finger Design
Solid model of index finger
Finger Design
•ring finger (pinky)
MPJ: cross shaft
abduction: passive motion, torsion spring
Flexion transmission route:
motor-> bevel gears-> PP flexion-> linkage->
MP flexion-> linkage-> DP flexion
Finger Design
Coupling design of DIJ & PIJ
Transmission ration between MP&PP: 1:1
Transmission ration between DP&MP: 2:3
Design results are shown in the following table.

l1/mm l2/mm l3/mm l4/mm

Linkage a 70 66 6 6

Linkage b 45 42 8 7

Linkage a Linkage b
Finger Design
Solid model of ring finger
Finger Design
•thumb & pulm
similar to that of index finger
difference:
TMPJ shaft & abduction shaft: 30°twist angle
Finger Design
Solid model of thumb
Finger Design
Physical prototype
Grasping Simulation
Purpose
to verify the grasp ability of BH985 dexterous hand

Method
3D Solid modeling: in Solidworks software
Grasp simulation: in ADAMS/VIEW software
Compared with human grasp
Grasping Simulation
Human grasp classification

cylindrical grasp power grasp chuck grip

hook span grasp lateral pinch


Grasping Simulation
Simulation results
Grasping Simulation
Conclusion
• capable of grasping objects with typical shapes, such as
cylinder, sphere and cuboid
• capable of realizing grasp configuration of typical types of grasp
mentioned above
Reference
1. Yuru Zhang, Jiting Li, Jianfeng Li. Robotic Dexterous Hand: Modeling,
Planning, and Simulation. Mechanical Press, Beijing. 2007
Acknowledgments
The author wishes to acknowledge the support from the
Society for Manufacturing Engineers - Education Foundation,
SME-EF Grant #5004 for “Curriculum Modules in Product
Lifecycle Management.”

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