Design and Control of a Novel 1-DOF Robotic Hand
The paper details the design and development of a novel 1-DOF robotic hand BHG-1. The hand is composed of a palm and three modularized fingers and each finger has three phalanxes. The kinematics design proposes a theory which ensures the 1-DOF hand to obtain an optimum grasping ability in adapting to different size and shape of objects. The key point is that the transmission ratio of adjacent phalanxes should be the same, so that the hand can adapt to a range of cylindrical objects with different diameters. A new cable transmission mechanism is designed to drive the fingers, of which the superiority over other transmission structures is illustrated. The control system design is presented and with the prototype the grasping experiments are conducted and show the designed BHG-1 has excellent grasping adaptability.
Robotic Hand 1 DOF Adaptive Grasping Cable Transmission
Qiang ZHAN Wei HU Yao CAI RuiYang Fenglian WANG Peng HE
Robotics Institute Beihang University Beijing,P.R.China 7220 Mail Box Beijing,P.R.China
国际会议
太原
英文
45-49
2011-02-26（万方平台首次上网日期，不代表论文的发表时间）