An optimal method to determine the parameters of anthropomorphic finger based on four-link mechanism

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	An optimal method to determine the parameters of anthropomorphic finger based on four-link mechanism
	Liu YW(刘玉旺); Wang HG(王洪光); Li B(李斌); Zhou WJ(周维佳)
	2008
会议名称	2nd Biennial IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)
会议日期	October 19-22, 2008
会议地点	Scottsdale, AZ
页码	930-935
通讯作者	刘玉旺
中文摘要	Anthropomorphic fingers based on four-link mechanisms are commonly used in the design of the dexterous robotic hands. The most critical part of the design is to determine a set of optimal linkage parameters that will provide the desired mechanical configuration and motion scope to match human fingers'. The existing optimization method is based on the vector kinematics equations of the linkages, which must apply the abstract constraints to ensure that the four-link mechanism is crossed. These constraints are non-intuitive to apply and may yield unsatisfactory results if applied improperly. This paper will propose an alternative approach, a geometry-based kinematics, to ensure the crossed four-link configuration without applying the abstract constraints. This paper will briefly review the vector kinematics based optimal method. Optimization using geometry-based kinematics will be introduced. Constraints and boundary conditions for the optimal parameters of the four-link mechanism will be discussed. An example is given to demonstrate the effectiveness of the proposed method to an anthropomorphic finger.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, RAS, EMBS
会议录	2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-2882-3
WOS记录号	WOS:000270540400155
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8576]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu YW,Wang HG,Li B,et al. An optimal method to determine the parameters of anthropomorphic finger based on four-link mechanism[C]. 见:2nd Biennial IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006). Scottsdale, AZ. October 19-22, 2008.