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Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator 期刊论文
Sensors (Switzerland), 2020, 卷号: 20, 期号: 5, 页码: 1-17
Authors:  Wu HT(吴浩廷);  Yin M(尹猛);  Xu ZG(徐志刚);  Zhao ZL( 赵志亮);  Han W(韩伟)
Adobe PDF(3097Kb)  |  Favorite  |  View/Download:47/6  |  Submit date:2020/03/22
tendon-sheath drive  robot  compensation control  trajectory tracking  
Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator 期刊论文
IEEE Access, 2020, 卷号: 8, 页码: 37361-37371
Authors:  Yin M(尹猛);  Wu HT(吴浩廷);  Xu ZG(徐志刚);  Han W(韩伟);  Zhao ZL( 赵志亮)
Adobe PDF(3974Kb)  |  Favorite  |  View/Download:55/12  |  Submit date:2020/04/01
Tendon-sheath actuators  robotic manipulator  compliant control  position transmission model  parameter identifications  series elastic actuators  transmission characteristic  
灵巧手最小抓取作用力规划 期刊论文
组合机床与自动化加工技术, 2020, 期号: 6, 页码: 80-83, 87
Authors:  韩伟;  陈恩茂;  徐志刚;  吴浩廷;  尹猛;  韩伟;  陈恩茂;  徐志刚;  吴浩廷;  尹猛
Adobe PDF(1220Kb)  |  Favorite  |  View/Download:2/0  |  Submit date:2020/07/04
灵巧手  最小抓取力  抓取规划  差分进化  
基于蒙特卡洛法的模型送进机构可靠性分析 期刊论文
组合机床与自动化加工技术, 2019, 期号: 2, 页码: 135-138, 142
Authors:  薛全兴;  徐志刚;  韩伟;  张安申;  杨原青
View  |  Adobe PDF(820Kb)  |  Favorite  |  View/Download:91/11  |  Submit date:2019/03/08
精度可靠度  可靠度  优化设计  蒙特卡洛算法  
Kinematic optimization of tendon-sheath actuated hand 会议论文
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, December 6-8, 2019
Authors:  Yin M(尹猛);  Han W(韩伟);  Xu ZG(徐志刚);  Wu HT(吴浩廷);  Zhao ZL( 赵志亮)
Adobe PDF(1995Kb)  |  Favorite  |  View/Download:49/4  |  Submit date:2020/02/23
Dexterous hand  Decoupling degrees of freedom  Minimum singular value  Relative shape closure  
一种3自由度并联柔索驱动机器人的变刚度特性研究 期刊论文
机械设计与制造, 2009, 卷号: 47, 期号: 1, 页码: 151-153
Authors:  刘含玮;  王洪光;  李树军;  何立波
Adobe PDF(186Kb)  |  Favorite  |  View/Download:460/113  |  Submit date:2010/11/29
并联柔索驱动  变刚度特性  刚度试验  
一种3自由度并联柔索驱动机器人的精度研究 期刊论文
机器人, 2008, 卷号: 30, 期号: 5, 页码: 392-397
Authors:  刘含玮;  王洪光;  李树军;  何立波
Adobe PDF(402Kb)  |  Favorite  |  View/Download:556/134  |  Submit date:2010/11/29
并联柔索驱动  误差模型  精度综合分析  精度试验