The Underactuation and Motion-coupling in Robotic Fingers and Two New 1-DOF Motion-coupling Anthropomorphic Fingers
文献类型：会议论文
| 作者 | Liu YW(刘玉旺) ; Wang HG(王洪光); Li B(李斌)
|
| 出版日期 | 2009 |
| 会议日期 | February 22-25, 2009 |
| 会议地点 | Bangkok, THAILAND |
| 关键词 | Robotic Finger Underactuation Motion-coupling Anthropomorphic |
| 页码 | 1573-1578 |
| 英文摘要 | Present multifingered hands share a common drawback: the complexity of both the hardware and the software. The complexity is derived from tens of DOF and their actuators placed in small space, and results in the high weight and the non-reliability of the whole system. So many multifingered hands, especially the prosthetics and the hand developed for project application, adopt underactuation (in the finger or transmission system) or motion-coupling (in the finger) to reduce the number of actuators but not reduce the number of the DOF (underactuation) or the motion (motion-coupling), and accordingly debase the complexity of the multifingered hand. This paper firstly reviews the underactuation and motion-coupling used in existing anthropomorphic finger. And then based on the analysis of the existing motion-coupling anthropomorphic ringer, we propose two new 1-DOF motion-coupling anthropomorphic fingers based on linkage. The two new proposed fingers are more compact than the existing 1-DOF fingers based on linkage. The feasibility of the two proposed fingers is validated in the end, and a 3D-CAD model of the anthropomorphic hand SIA-I with new-proposed ringers is given. |
| 源文献作者 | IEEE Robot & Automat Soc |
| 产权排序 | 1 |
| 会议录 | 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-2678-2 |
| WOS记录号 | WOS:000271966900266 |
| 源URL | [http://ir.sia.cn/handle/173321/8920]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu YW(刘玉旺) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), Shenyang, Liao Ning province, China 2.Wisconsin Center for Space Automation and Robotics, University of Wisconsin-Madison, WI, Madison, United States |
| 推荐引用方式 GB/T 7714 | Liu YW,Wang HG,Li B. The Underactuation and Motion-coupling in Robotic Fingers and Two New 1-DOF Motion-coupling Anthropomorphic Fingers[C]. 见:. Bangkok, THAILAND. February 22-25, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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