Structural Design and Parameter Optimization of Tootharrangement Three-fingered Dezterous Hand

摘要：

Based on analysis of human hand grasp, the finger number and the kinematic pair pattern are decided. Aiming at the parameters of each finger, this paper proposes a multiobjective function for optimizing the structure of multi-fingered hand. Considering the peculiarity of tooth-arrangement and dexterous hand grasp, the constraints are established, and a satisfactory result is gained. Furthermore, this paper analyses the optimal results, and puts forward a law of parameter optimal design. It is proved that this optimization method is effective to optimize the relation of each parameter and make it integrated optimum under each standard.

关键词： dezterous hand structural parameter optimal design tooth-arrangement Matlab

作者: Yanjiang Zhao Yongde Zhang Junpeng Shao

作者单位: Intelligent Machine Institute Harbin University of Science and Technology Harbin, Heilongjiang Provi School of Mechanical & Power Engineering Harbin University of Science and Technology Harbin, Heilong

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-5

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）