Optimal Design of a Five-Bar Finger with Redundant Actuation
نویسندگان
چکیده
In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is suggested Optimal sets of actuator locatiom and link lengths for the cases of minimum actuator, one, two, and three redundant actuators are obtained by employing a composite design index which simultaneously consider several performance indices such as workspace, isotropic index, and force transmission ratio, Eventually, several finger-conjgurations optimized for special performance indices are illustrated.
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A five-bar finger mechanism involving redundant actuators: analysis and its applications
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