Research on control and optimization of a bionic hand-shaped manipulator

Aiming at the existing bionic manipulator with sluggish control, complex structure, and low degree of freedom, this paper proposes a new type of all-drive bionic hand-shaped manipulator. By improving the servo control algorithm, the voltage fluctuation when the bionic manipulator action is displayed is effectively reduced. Based on the finite element analysis, the key factors affecting the load capacity are identified, and the grasping performance is improved by the designed finger sleeve, so that the maximum grasping load reaches 1 kg. Grasping experiments on various objects verify the rationality of the bionic manipulator design and the flexibility of the operation, proving that the improved design effectively improves the system efficiency, stability, and servo precision.