A novel under-actuated bionic hand and its grasping stability analysis
文献类型：期刊论文
| 作者 | Li, Xin ; Huang, Qiang; Chen XC(陈学超); Yu, Zhangguo; Zhu, Jinying; Han JD(韩建达)
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| 刊名 | ADVANCES IN MECHANICAL ENGINEERING
 |
| 出版日期 | 2017 |
| 卷号 | 9期号:2页码:1-13 |
| 关键词 | Under-actuated mechanism linkage mechanism cooperative mechanism force analysis stability analysis |
| ISSN号 | 1687-8140 |
| 产权排序 | 2 |
| 通讯作者 | 陈学超 |
| 中文摘要 | This article presents a novel under-actuated robot hand, which has a thumb and two cooperative fingers. The thumb has two joints with 2 degrees of freedom driven by one motor. Each of the other two fingers has the same mechanism structure with the thumb and forms a cooperative mechanism, which is driven by only one motor with 4 degrees of freedom in total. All the under-actuated fingers are designed with the transmission mechanisms based on a kind of mechanism combined with the linkage mechanism and the passive elements. In this article, it is shown that under-actuated hand is able to reproduce most of the grasping behaviors of the human hand anthropomorphically and self-adaptively, without increasing the complexity of mechanism and control. The grasping stability analysis is given to help to understand the size range and load range of a stable grasp. Finally, the experiment results verify the high efficiency and stability of the novel mechanism. |
| WOS标题词 | Science & Technology ; Physical Sciences ; Technology |
| 类目[WOS] | Thermodynamics ; Engineering, Mechanical |
| 研究领域[WOS] | Thermodynamics ; Engineering |
| 关键词[WOS] | UNDERACTUATED FINGERS ; DESIGN |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000394868900020 |
| 源URL | [http://ir.sia.cn/handle/173321/20291]  |
| 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 | Li, Xin,Huang, Qiang,Chen XC,et al. A novel under-actuated bionic hand and its grasping stability analysis[J]. ADVANCES IN MECHANICAL ENGINEERING,2017,9(2):1-13. |
| APA | Li, Xin,Huang, Qiang,Chen XC,Yu, Zhangguo,Zhu, Jinying,&Han JD.(2017).A novel under-actuated bionic hand and its grasping stability analysis.ADVANCES IN MECHANICAL ENGINEERING,9(2),1-13. |
| MLA | Li, Xin,et al."A novel under-actuated bionic hand and its grasping stability analysis".ADVANCES IN MECHANICAL ENGINEERING 9.2(2017):1-13. |
入库方式： OAI收割
来源：沈阳自动化研究所
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