New Method to Design Robotic Hand based on Cross-Axis Flexural Pivots

摘要：

This paper puts forward a new method in designing the robotic hand. The innovation of the design is to use the cross-axis flexural pivots as the joints of the finger. The paper first discusses the advantages of flexible joints compared to other joints in the design process of robotic hand. The normal flexible joints used in the robotic fingers are presented. After a brief discussion, a new approach which applies cross-axis flexural pivots in the robotic finger is raised. The pseudo-rigid-body model is established for the new design of robotic finger. Manipulator kinematics is also conducted in this paper.

关键词： robotic hand flexural hinge cross-axis flexural pivots pseudo-rigid-body model kinematics

作者: ZHENG Yi LI Yangmin

作者单位: Department of Electromechanical Engineering, University of Macau, Macao SAR 999078, China Department of Electromechanical Engineering, University of Macau, Macao SAR 999078, China School of

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 5129-5134

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）