Kinematic Analysis of Underactuated Robotic Finger Design
نویسندگان
چکیده
منابع مشابه
On the Design of Underactuated Finger Mechanisms for Robotic Hands
The mechatronic design of robotic hands is a very complex task, which involves different aspects of mechanics, actuation, and control. In most of cases inspiration is taken by the human hand, which is able to grasp and manipulate objects with different sizes and shapes, but its functionality and versatility are very difficult to mimic. Human hand strength and dexterity involve a complex geometr...
متن کاملFull Compliant Continuum Robotic Finger and Its Kinematic Model
Abstract– Different from the traditional rigid robots made by hard material such as metal, continuum robots are bionic mechanisms which feature high compliance and continuous shapechanging ability. A full compliant continuum robotic finger is proposed, which is driven by the compressed air inside its silicon rubber chamber and has a certain degree of grasping rigidity. By the moment equilibrium...
متن کاملFault-Tolerant Kinematic Controller Design for Underactuated Robot Manipulators
The trajectory generation problem for fault-tolerant robot manipulators is considered. A new technique which extends the Inverse Kinematics optimization approach to the case of robots with actuator faults is proposed. A bound on the second-order non-integrable constraints resulting from underactuation is assumed, and the trajectory generation problem is formulated as a nonlinear time-varying st...
متن کاملOn the Kinematic Analysis of Robotic Mechanisms
The kinematic analyses, of manipulators and other robotic devices composed of mechanical links, usually depend on the solution of sets of nonlinear equations. There are a variety of both numerical and algebraic techniques available to solve such systems of equations and to give bounds on the number of solutions. These solution methods have also led to an understanding of how special choices of ...
متن کاملQuasi-dynamic Analysis, Design Optimization, and Evaluation of a Two-finger Underactuated Hand
Quasi-dynamic Analysis, Design Optimization, and Evaluation of a Two-finger Underactuated Hand M. A. Saliba and C. W. de Silva RIAL–Robotics and Industrial Automation Laboratory, Department of Industrial and Manufacturing Engineering, University of Malta, Msida, MSD 2080, Malta. E-mail: [email protected]. Corresponding author. bIndustrial Automation Laboratory, Department of Mechanical E...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IOP Conference Series: Materials Science and Engineering
سال: 2021
ISSN: 1757-8981,1757-899X
DOI: 10.1088/1757-899x/1094/1/012070