A Novel Underactuated Hand with Adaptive Robotic Fingers
文献类型：会议论文
| 作者 | Bin Gao; Long Lei; Shijia Zhao; Ying Hu; Jianwei Zhang |
| 出版日期 | 2016 |
| 会议名称 | International Conference on Information and Automation |
| 会议地点 | 宁波 |
| 英文摘要 | This paper presented the concept of adaptation and underactuation applied to robotic grippers for manipulations. In order that the gripper can grasp the objects of different shapes, the adaptive and underactuated mechanism without any driving system in the joints was used. The main objective of this work is the fundamental analysis of this underactuated finger, including the dimensional design, kinetostatic analysis and performance evaluation. Firstly, the forces of the phalanges at the finger were calculated. Then, the performance of the mechanism was evaluated by the relationship between the driving force and the contact force, the stability of grasping and the dexterity of fingers. The results showed that the proposed self-adaptive and underactuated gripper can perform operations like human hands |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10055]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | Bin Gao,Long Lei,Shijia Zhao,et al. A Novel Underactuated Hand with Adaptive Robotic Fingers[C]. 见:International Conference on Information and Automation. 宁波. |
入库方式： OAI收割
来源：深圳先进技术研究院
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