Principle and Mechanical Analysis of a Pneumatic Underactuated Bionic Hand

摘要：

Based on the underactuated theory, a pneumatic underactuated bionic hand with five fingers is designed. Every finger of the hand is driven by a group of micro cylinders in parallel. The knuckle angle is totally decided by the shape of the grasped object. The expressions of the grab forces are stated after the static and kinematic calculations. The grasp patterns derived from force analysis show the grasp stability of the hand. The bionic hand with strong flexibility can offer a new design conception in this kind of manipulators.

作者: Zhuang Ye Duanling Li

作者单位: Automation School,Beijing University of Posts and Telecommunications 100876,Beijing,China

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: 432-436

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）