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A novel under-actuated bionic hand and its grasping stability analysis
Li, Xin; Huang, Qiang; Chen XC(陈学超); Yu, Zhangguo; Zhu, Jinying; Han JD(韩建达)
作者部门机器人学研究室
关键词Under-actuated Mechanism Linkage Mechanism Cooperative Mechanism Force Analysis Stability Analysis
发表期刊ADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8140
2017
卷号9期号:2页码:1-13
收录类别SCI
WOS记录号WOS:000394868900020
产权排序2
资助机构NSFC of China [61533004, 61320106012, 61673068] ; Beijing Municipal Science and Technology Project [D161100003016002] ; "111 Project" [B08043] ; State key Laboratory of Robotics
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.
语种英语
WOS标题词Science & Technology ; Physical Sciences ; Technology
WOS类目Thermodynamics ; Engineering, Mechanical
关键词[WOS]UNDERACTUATED FINGERS ; DESIGN
WOS研究方向Thermodynamics ; Engineering
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20291
专题机器人学研究室
通讯作者Chen XC(陈学超)
作者单位1.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
2.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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.
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