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题名: An optimal method to determine the parameters of anthropomorphic finger based on four-link mechanism
作者: Liu YW(刘玉旺) ; Wang HG(王洪光) ; Li B(李斌) ; Zhou WJ(周维佳)
作者部门: 机器人学研究室
会议名称: 2nd Biennial IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)
会议日期: October 19-22, 2008
会议地点: Scottsdale, AZ
会议主办者: IEEE, RAS, EMBS
会议录: 2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 930-935
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2882-3
摘要: Anthropomorphic fingers based on four-link mechanisms are commonly used in the design of the dexterous robotic hands. The most critical part of the design is to determine a set of optimal linkage parameters that will provide the desired mechanical configuration and motion scope to match human fingers'. The existing optimization method is based on the vector kinematics equations of the linkages, which must apply the abstract constraints to ensure that the four-link mechanism is crossed. These constraints are non-intuitive to apply and may yield unsatisfactory results if applied improperly. This paper will propose an alternative approach, a geometry-based kinematics, to ensure the crossed four-link configuration without applying the abstract constraints. This paper will briefly review the vector kinematics based optimal method. Optimization using geometry-based kinematics will be introduced. Constraints and boundary conditions for the optimal parameters of the four-link mechanism will be discussed. An example is given to demonstrate the effectiveness of the proposed method to an anthropomorphic finger.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8576
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
刘玉旺; 王洪光; 李斌; 周维佳.An optimal method to determine the parameters of anthropomorphic finger based on four-link mechanism.见:IEEE .2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2,NEW YORK,2008,930-935
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