SAU-RFC hand: a novel self-adaptive underactuated robot hand with rigid-flexible coupling fingers
文献类型：期刊论文
| 作者 | Su, Congjia1,2 ; Wang, Rui2; Lu, Tao2; Wang, Shuo1,2,3
|
| 刊名 | ROBOTICA
 |
| 出版日期 | 2022-03-30 |
| 页码 | 19 |
| 关键词 | robot hand self-adaptive underactuated finger rigid-flexible structure contact force distribution |
| ISSN号 | 0263-5747 |
| DOI | 10.1017/S0263574722000364 |
| 通讯作者 | Wang, Rui(rwang5212@ia.ac.cn) |
| 英文摘要 | In this paper, a novel self-adaptive underactuated robot hand with rigid-flexible coupling fingers (SAU-RFC hand) is proposed. The seven degrees of freedom (DOFs) SAU-RFC hand is driven by four servomotors, consists of three fingers, including two side-turning (ST) fingers and one non-side-turning finger. Specially, the ST fingers can perform synchronous reverse rotation laterally with each other. Each finger with three joints and two DOFs introduces a flexible structure, and the inner part of the proximal phalanx that makes most of the contact with the object is replaced by a flexible belt. The fingers can generate flexion/extension under the pull of the flexible belt, and the middle and distal phalanxes are mechanically coupled through a four-bar linkage. In particular, the flexible belt in the inner direction of the finger will deform, while it will not deform in the outer direction since the outer is a rigid structure. The flexible belt not only plays the role of transmitting power but also has the effect of uniformizing the contact force. Due to the rigid-flexible finger structure, the developed robot hand has a higher self-adaptive grasping ability for objects with different shapes, sizes, and hardness. In addition, the kinematic and kinetic analyses of SAU-RFC hand are performed. A contact force distribution model is established for the flexible belt, which demonstrates its effect of promoting uniform force distribution theoretically. In the end, experiments are conducted on different objects to verify the performance of SAU-RFC hand. |
| WOS关键词 | COMPLIANT |
| 资助项目 | National Key Research and Development Program of China[2019YFB1311901] ; National Natural Science Foundation of China[U1913201] ; Beijing Nova Program[Z211100002121152] ; Beijing Natural Science Foundation[4222056] ; Youth Innovation Promotion Association CAS[2020137] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000776365800001 |
| 出版者 | CAMBRIDGE UNIV PRESS |
| 资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Beijing Nova Program ; Beijing Natural Science Foundation ; Youth Innovation Promotion Association CAS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/48151]  |
| 专题 | 智能机器人系统研究 |
| 通讯作者 | Wang, Rui |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Su, Congjia,Wang, Rui,Lu, Tao,et al. SAU-RFC hand: a novel self-adaptive underactuated robot hand with rigid-flexible coupling fingers[J]. ROBOTICA,2022:19. |
| APA | Su, Congjia,Wang, Rui,Lu, Tao,&Wang, Shuo.(2022).SAU-RFC hand: a novel self-adaptive underactuated robot hand with rigid-flexible coupling fingers.ROBOTICA,19. |
| MLA | Su, Congjia,et al."SAU-RFC hand: a novel self-adaptive underactuated robot hand with rigid-flexible coupling fingers".ROBOTICA (2022):19. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。