Development of NTU-Hand II and Cooperative Control Among Fingers of the Multi-fingered Hand

• Main Author: 武志達
• Other Authors: 黃漢邦
• Format: Others
• Language: en_US
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/47979969422397839816

碩士 === 國立臺灣大學 === 機械工程學系研究所 === 84 === The application of multi-fingered hands is not only in industry but also in prosthetics. The thesis is aimed at constructing a multi-fingered hand, NTU-Hand II, and developing a coordination control strategy for multiple multi-fingered hands. This thesis contains two parts. First, the design and implementation of the multi-fingered hand NTU-Hand II are discussed. The implementation is based on the previous design of the NTU-Hand I [7~9]. This dexterous hand has five fingers and seventeen degrees of freedom. By modifying the parameters of the parts and fabricating a glass fiber reinforced plastic palm structure, the weight of the NTU-Hand II drops to 1300 g. The workspace and some other functions are also improved. The second part deals with the operation of the multi-fingered hand. The approach that using the wire framed model and the points on the object surface to search the grasp joint solution for a specific object trajectory is extended to multiple hands and multiple objects. In this method, the solution is found directly from the kinematic relation. It provides a quick way to get a possible trajectory for manipulating the object. But the grasping force and stability are still not yet considered. In addition to the trajectory planning, a position based grasping force control in master/slave architecture is also applied to the NTU-Hand II. A virtually internal model with only single spring is used as the force model and the master/slave architecture is used for multiple arms cooperation. From the simulation result, the proposed model and algorithm work well for trajectory tracking and grasp control.