Interactive Motion Analysis of the YWZ Dexterous Hand

This paper analyzes the motion characteristics and explains the interactive motion simulation of a dexterous robot hand with multiple degrees of freedom.First,we introduce the mechanical structure and degree of freedom of the YWZ dexterous robot hand.Second,we deduce the kinematic equation of the robot hand via the D-H method.Lastly,we propose a method that makes the motion simulation of the robot hand interactive.The results show that the interactive method can adjust the direction of rotation and the angle of each joint in the simulation process in real time through the optimization grab action.Don't have repeatedly kinematics parameter settings.The method improves the efficiency of the kinematic simulation,which is beneficial to the mechanical structure of the dexterous hand design and control scheme,and helps provide a theoretical basis for the development and actual control of the dexterous hand.