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Research on the dimensions of the multi-fingered robotic hand based on underactuated linkage mechanism
Gui LS(郭良帅)1,2; Liu YM(刘玉梅)1; Wang FH(王福华)2; Liu YW(刘玉旺)2
Department空间自动化技术研究室
Conference NameInternational Conference on Control Engineering and Mechanical Design (CEMD 2017)
Conference DateOctober 20-22, 2017
Conference PlaceXiamen, China
Source PublicationInternational Conference on Control Engineering and Mechanical Design (CEMD 2017)
PublisherASME
Publication PlaceNew York
2017
Pages1-6
Contribution Rank1
KeywordUnderactuated hand Grasp configurations Stability Geometrical parameters
AbstractThere 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/23797
Collection空间自动化技术研究室
Corresponding AuthorLiu YW(刘玉旺)
Affiliation1.School of mechanical engineering, Shenyang Ligong University, Shenyang 110159, China
2.State Key Laboratory of Robotics, Shenyang Institution of Automation Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Gui LS,Liu YM,Wang FH,et al. Research on the dimensions of the multi-fingered robotic hand based on underactuated linkage mechanism[C]. New York:ASME,2017:1-6.
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