[1] Lü XinQiao ShanglingHuang YongLiu Rongqiang,. Stable grasping gesture analysisof a cable-driven underactuated robotic hand [J]. Journal of Southeast University (English Edition), 2018, 34 (3): 309-316. [doi:10.3969/j.issn.1003-7985.2018.03.005]
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Stable grasping gesture analysisof a cable-driven underactuated robotic hand(
)
绳驱动式欠驱动机械手稳定抓取构型分析
)Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]
- Volumn:
- 34
- Issue:
- 2018 3
- Page:
- 309-316
- Research Field:
- Other Disciplines
- Publishing date:
- 2018-09-20
Info
- Title:
- Stable grasping gesture analysisof a cable-driven underactuated robotic hand
- 绳驱动式欠驱动机械手稳定抓取构型分析
- Author(s):
- Lü XinQiao ShanglingHuang YongLiu Rongqiang
- School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
- Keywords:
- grasp gesture; tendon-pulley transmission; underactuated; grasp force
- PACS:
- V443.4
- DOI:
- 10.3969/j.issn.1003-7985.2018.03.005
- Abstract:
- The stable grasping gesture of a novel cable-driven robotic hand is analyzed. The robotic hand is underactuated, using tendon-pulley transmission and a parallel four-linkage mechanism to realize grasp. The structure design and a basic grasping strategy of one finger was introduced. According to the established round object enveloping grasp model, the relationship between the contacting and driving forces in a finger and stable grasping conditions were expounded. A method of interpolation and iteration was proposed to obtain the stable grasping gesture of the cable-driven hand grasping a round target. Quasi-statics analysis in ADAMS validated the variation of grasping forces, which illustrated the feasibility and validity of the proposed analytical method. Three basic types of grasping gestures of the underactuated hand were obtained on the basis of the relationship between the contact forces and position of a grasped object.
- 对一种新型绳索驱动式机械手进行了稳定抓取位形研究.该机械手具有欠驱动特点, 采用绳轮传动系统和平行四连杆机构实现抓取功能.介绍了欠驱动机械手构型设计和抓取运动策略, 建立了圆形物体包络抓取模型, 推导出绳驱动力与指节抓取力的关系方程并分析了稳定抓取成立的条件.采用插值和迭代计算的方法, 分析了绳轮式欠驱动机械手抓取圆形目标体时的稳定抓取位形.ADAMS准静力学仿真分析验证了指节抓取力分布的正确性, 也验证了所提分析方法的可行性和有效性.欠驱动机械手指节接触力分布与被抓取物体位置关系表明绳驱动式欠驱动机械手具有3种稳定抓取位形.
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Memo
- Memo:
-
Biographies: Lü Xin(1981—), male, doctor, lvxin@hit.edu.cn; Liu Rongqiang(1965—), male, doctor, professor, liurq@hit.edu.cn.
Foundation items: The National Natural Science Foundation of China(No.U1613201, 51275107), Shenzhen Research Funds(No.JCYJ 20170413104438332).
Citation: Lü Xin, Qiao Shangling, Huang Yong, et al. Stable grasping gesture analysis of a cable-driven underactuated robotic hand[J].Journal of Southeast University(English Edition), 2018, 34(3):309-316.DOI:10.3969/j.issn.1003-7985.2018.03.005.