1-DOF motion-coupling anthropomorphic fingers based on linkage

摘要：

This paper aims to give some proofs validating that the new proposed 1-DOF motion-coupling anthropomorphic fingers (in reference 1) can imitate the human fingers motion well and to find the advantage and disadvantage of the new fingers. The geometry-based kinematics and the statics of all the four 1-DOF six-link motion-coupling fingers are deduced, the parameters of these fingers are defined through optimization method, and the width of every finger is defined and calculated. In the end, we simulate the kinematics and statics to find difference among all the four 1-DOF motion-coupling anthropomorphic fingers. It is shown that the new proposed fingers are more compacter than the existing ones, while the new fingers are not more difficult to driven.

作者: Yuwang Liu Hongguang Wang Weijia Zhou

作者单位: State Key Laboratory of Robotics,Shenyang Institute of Automation (SIA),Chinese Academy of Sciences State Key Laboratory of Robotics,SIA,CAS Wisconsin Center for Space Automation and Robotics,University of Wisconsin-Madison,USA

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1784-1789

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）