Underactuated Dexterous Hand with Independent Control of Finger Joint

被引：2

作者：

Liu J. ^{[1
,2
]}

Zhao R. ^{[1
,2
,3
]}

Jia X. ^{[1
,2
]}

Guo S. ^{[1
,2
]}

Wu X. ^{[3
]}

Gu J. ^{[3
]}

机构：

[1] School of Mechanical Engineering, Hebei University of Technology, Tianjin

[2] Key Laboratory of Robotic Perception and Human-Machine Integration in Hebei Province, Hebei University of Technology, Tianjin

[3] Shanghai Institute of Aerospace Control Technology, Shanghai

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2020年 / 56卷 / 03期

关键词：

Dexterous hand; Joint locking; Optimal design; Precise grasp; Underactuation;

D O I：

10.3901/JME.2020.03.047

中图分类号：

学科分类号：

摘要：

In order to achieve accurate grasping of objects, a novel joint-lockable single-turn under-actuated dexterous hand was designed for the uncontrollable problem of under-actuated dexterous hand joint movement. The structural designs of the joint locking mechanism and the inter-finger coupling mechanism were completed, and the working space of the dexterous finger were analyzed with Matlab. The coupling spring and the return spring, which play a key role in the joint locking mechanism and the inter-finger coupling mechanism, were designed to optimize the parameters affecting the joint driving torque, and the optimized finger transmission mechanism and the reel tensioning mechanism are obtained. The trials to grip different shapes and sizes objects by the dexterous hand prototype were carried out to validate the ablilities of locking the finger joints, the envelope grasping and the precision grasping. © 2020 Journal of Mechanical Engineering.

引用

页码：47 / 55

页数：8

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