Analysis and design of a modular underactuated mechanism for robotic fingers

被引：7
|
作者：
Yao, S. [2 ]
Ceccarelli, M. [1 ]
Zhan, Q. [3 ]
Carbone, G. [1 ]
Lu, Z. [2 ]
机构：
[1] Univ Cassino, LARM Lab Robot & Mechatron, I-03043 Cassino, Fr, Italy
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing, Peoples R China
[3] Beihang Univ, Inst Robot, Beijing, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2012年 / 226卷 / C1期
关键词：
robotic fingers; modular design; underactuated mechanisms; design algorithms; optimality criteria; GRASP; HAND;
D O I：
10.1177/0954406211412457
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents an analysis of the design problems and requirements for underactuated mechanisms for robotic fingers. The case of performing a grasping task is considered and a solution is proposed that consists of a series of linked underactuated mechanisms. Optimality criteria are analysed with the aim of formulating a general design algorithm based on a suitable optimization problem. An example of a four-phalanx modular finger is used to highlight the practical feasibility of the proposed modular design concepts and procedures.
引用
收藏
页码：242 / 256
页数：15
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