A Three-Fingered Humanoid Dexterous Hand Based on a Six-Bar Metamorphic Palm Structural Design and Performance Research

The traditional rigid integrated palm structure of dexterous hand often restricts the dexterous hand's mobility, workspace and grasping adaptability. Based on six bar metamorphic mechanism, a three finger dexterous hand with palm deformation ability is designed in this paper. 3D solid modeling; The working mode of metamorphic palm is divided, and the mathematical model of palm and finger is established by Jacobian matrix; MATLAB is used to simulate the workspace of each finger, and the overlap of each finger is obtained; Based on the full rank grasping matrix, the grasping space, the size of the object to be grasped and the pose parameters of the dexterous hand are analyzed to further verify the superiority of the performance of the metamorphic humanoid dexterous hand.