Kinematic Design of a Planar and Spherical Mechanism for the Abduction of the Fingers of an Anthropomorphic Robotic Hand
This paper presents the kinematic design of an abduction mechanism for the fingers of an anthropomorphic robotic hand. This mechanism enhances the range of feasible grasps of the underactuated hand without significantly increasing its complexity. Two architectures are investigated: one is purely planar while the other uses a spherical mechanism in conjonction with a planar linkage. The analysis of the planar mechanism between the index finger and the third finger is first assessed, in which the parameters are determined in order to satisfy the constraints on the motion ranges while minimizing the coordination error. Then, the study of the mechanism joining the third finger and the little finger is summarized, followed by the analysis of the spherical mechanism. Finally, prototypes of the fingers’ abduction systems using the two proposed architectures are presented.
Louis-Alexis Allen Demers Cl(e)ment Gosselin
D(e)partement de g(e)nie m(e)canique,Universit(e) Laval,Qu(e)bec,Qu(e)bec,Canada,G1V 0A6
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5350-5356
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）