Static model for a 3-DOF underactuated finger
نویسندگان
چکیده
منابع مشابه
Nonlinear Output Feedback H-Infinity-Tracking Control of a 3-DOF Underactuated Helicopter
Nonlinear H∞-control synthesis is developed to solve the tracking control problem to induce periodic behavior in a 3-DOF underactuated helicopter prototype. Due to the nature of the approach, the proposed controller yields the desired robustness properties against unknown bounded external disturbances. Stabilizability and detectability properties of the control system are ensured by the existen...
متن کاملStatic Balancing of Spherical 3-DOF Parallel Mechanisms and Manipulators
The static balancing of spherical three-degree-of-freedom (DoF) parallel mechanisms and manipulators is addressed in this paper. Static balancing is defined here as the set of conditions on mechanism dimensional and inertial parameters which, when satisfied, ensure that the weight of the links does not produce any torque (or force) at the actuators for any configuration of the mechanism, under ...
متن کاملDevelopment of an Underactuated Finger Mechanism for a Hand Prosthesis
This works shows the conceptual development of a finger mechanism for a prothestic hand. Three degrees of freedom of the finger are actuated by single DC motor, characterizing therefore an underactuated mechanical system. Mechanical torque developed by the motor is transmitted to the phalanges through tendons and is converted into flexion and extension torques by means of small pulleys. The ten...
متن کاملAn Underactuated Multi-finger Grasping Device
In this paper, a mechanical model for an underactuated multi-finger grasping device is presented. The device has single-tendon, three-phalanx fingers, all moved by only one actuator. By means of the model, both the kinematic and dynamical behaviour of the finger itself can be studied. The finger is part of a more complex mechanical system that consists of a four-finger grasping device for robot...
متن کاملBenchmark model of Quanser’s 3 DOF Helicopter
This paper proposes a software benchmark tool for the Quanser “3 DOF Helicopter” in the Mathworks Simscape environment, based on a multi-body model of the experimental setup. The proposed benchmark tool takes into account a number of implementation features of the experimental setup and aims at providing a tool for simulative validation and performance analysis of control strategies. Along with...
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: Mechanical Sciences
سال: 2011
ISSN: 2191-916X
DOI: 10.5194/ms-2-65-2011