Research on the dimensions of the multi-fingered robotic hand based on underactuated linkage mechanism
文献类型：会议论文
| 作者 | Liu YW(刘玉旺)1 ; Wang FH(王福华)1; Liu YM(刘玉梅)2; Gui LS(郭良帅)1,2
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| 出版日期 | 2017 |
| 会议日期 | October 20-22, 2017 |
| 会议地点 | Xiamen, China |
| 关键词 | Underactuated hand Grasp configurations Stability Geometrical parameters |
| 页码 | 1-6 |
| 英文摘要 | There would be a variety of grasp configurations when underactuated hand enveloping grasp the object, and most configurations are unstable which presents the object away from the fingers. The disadvantages of the hand’s stability based on the grasping kinematics are considered. The relationship of the geometrical parameters of the phalanges and the grasp stability is deduced. The method to determine the main geometrical parameters of the underactuated hand which could be competent to grasp the object is proposed. The experimental study on the three joint linkage underactuated hand which has been developed is carried out, which demonstrates the effectiveness of the method. |
| 产权排序 | 1 |
| 会议录 | International Conference on Control Engineering and Mechanical Design (CEMD 2017)
 |
| 会议录出版者 | ASME |
| 会议录出版地 | New York |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/23797]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Liu YW(刘玉旺) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institution of Automation Chinese Academy of Sciences, Shenyang 110016, China 2.School of mechanical engineering, Shenyang Ligong University, Shenyang 110159, China |
| 推荐引用方式 GB/T 7714 | Liu YW,Wang FH,Liu YM,et al. Research on the dimensions of the multi-fingered robotic hand based on underactuated linkage mechanism[C]. 见:. Xiamen, China. October 20-22, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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