A Numerical Simulation for Design and Operation of an Underactuated Finger Mechanism for LARM Hand

被引：37

作者：

Wu, Licheng ^{[1
]}

Ceccarelli, Marco ^{[2
]}

机构：

[1] Cent Univ Nationalities, Coll Informat Engn, Beijing 100081, Peoples R China

[2] Univ Cassino, DiMSAT, LARM Lab Robot & Mechatron, Cassino, FR, Italy

来源：

MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES | 2009年 / 37卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Finger mechanism; Kinematics; Reachable space; Simulation; Statics; Underactuated mechanism;

D O I：

10.1080/15397730802713397

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

A simulation procedure for an underactuated finger mechanism is proposed for design purposes as based on the kinematics and statics analysis of mechanism operation. A reachable space is proposed and simulated to describe the range and capability to adaptively grasp objects with various shapes and sizes. A numerical example is reported as a result that has been simulated through a specific code with MATLAB program. Results are discussed for a proper design of a new finger mechanism for the LARM (Laboratory of Robotics and Mechatronics) Hand. Results show that the proposed design of a new underactuated finger mechanism can provide human-like grasping operation, and it can be embedded within the finger body with a human-sized mechanical design during the whole motion of grasp operation.

引用

页码：86 / 112

页数：27

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