Design and Research of Multifunctional Dexterous Hands Based on Parallel Finger Structure

被引：0

作者：

Gong J. ^{[1
]}

Fang Y. ^{[1
]}

Jin X. ^{[1
]}

机构：

[1] School of Mechanical Electronic and Control Engineering, Beijing Jiaotong University, Beijing

来源：

Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2020年 / 31卷 / 23期

关键词：

Dexterous hand; Grasping ability; Industrial production; Kinematics analysis; Parallel mechanism;

D O I：

10.3969/j.issn.1004-132X.2020.23.008

中图分类号：

学科分类号：

摘要：

In order to meet requirements for the dexterity and carrying capacity of robot end grippers in industrial productions, a multifunctional dexterous hand was designed based on parallel finger structure. Firstly, kinematics, working spaces, and singularity of finger mechanisms were analyzed. Then, the carrying capacity of the dexterous hands was optimized and verified by ADAMS simulation. Prototype experiments show that the dexterous hands have ideal working spaces and good adaptability, and may realize conformable grasping of objects with different shapes, which makes the dexterous hands adapt to the requirements of flexible industrial productions. © 2020, China Mechanical Engineering Magazine Office. All right reserved.

引用

页码：2837 / 2846

页数：9

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