Research on the dimensions of the multi-fingered robotic hand based on underactuated linkage mechanism

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Research on the dimensions of the multi-fingered robotic hand based on underactuated linkage mechanism
	Liu YW(刘玉旺)1 ; Wang FH(王福华)1; Liu YM(刘玉梅)2; Gui LS(郭良帅)1,2
	2017
会议日期	October 20-22, 2017
会议地点	Xiamen, China
关键词	Underactuated hand Grasp configurations Stability Geometrical parameters
页码	1-6
英文摘要	There would be a variety of grasp configurations when underactuated hand enveloping grasp the object, and most configurations are unstable which presents the object away from the fingers. The disadvantages of the hand’s stability based on the grasping kinematics are considered. The relationship of the geometrical parameters of the phalanges and the grasp stability is deduced. The method to determine the main geometrical parameters of the underactuated hand which could be competent to grasp the object is proposed. The experimental study on the three joint linkage underactuated hand which has been developed is carried out, which demonstrates the effectiveness of the method.
产权排序	1
会议录	International Conference on Control Engineering and Mechanical Design (CEMD 2017)
会议录出版者	ASME
会议录出版地	New York
语种	英语
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23797]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Liu YW(刘玉旺)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institution of Automation Chinese Academy of Sciences, Shenyang 110016, China 2.School of mechanical engineering, Shenyang Ligong University, Shenyang 110159, China
推荐引用方式 GB/T 7714	Liu YW,Wang FH,Liu YM,et al. Research on the dimensions of the multi-fingered robotic hand based on underactuated linkage mechanism[C]. 见:. Xiamen, China. October 20-22, 2017.