Research of the Relation Between Configuration and Skin-Friction Coefficient of an Underactuated Hand Based on the Maximum Grasping Space
In order to complete the grasping mission in space,a novel underactuated robotic hand which belongs to not only the tendon-pulley transmission but also the double-stage mechanisms,is proposed.The hand which has three joints is controlled by a single motor during the grasping process.Based on grasping model,the relation equation which reveals the relation among the driving force,the equivalent torques on joints,and the grasping forces is established by using vector mechanics and the principle of virtual work.Under the condition that the maximal grasping space is an envelope circle with the radius of 1250 mm,all the stable grasping configurations and the relation between the shortest lengths of finger and the skin-friction coefficient is analyzed.
Stable grasp Underactuated Robotic hand Tendon-pulley transmission
Shangling Qiao Hongwei Guo Rongqiang Liu Zongquan Deng
State Key Laboratory of Robotics and System,Harbin Institute of Technology, Harbin 150001, China
国际会议
广州
英文
89-100
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）