Design considerations for underactuated grasp with a one DOF anthropomorphic finger mechanism

被引：35

作者：

Ceccarelli, Marco

Tavolieri, Cristina

Lu, Zhen

机构：

[1] Univ Cassino, DiMSAT, Lab Robot & Mechatron, I-03043 Cassino, Italy

[2] Beijing Univ Aeronaut & Astronaut, Beijing 100088, Peoples R China

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

grasp; finger mechanisms; structure design;

D O I：

10.1109/IROS.2006.282051

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we have approached the problem for improving an anthropomorphic finger mechanism for adapting its configuration to the shape of a grasped object, even with more suitable contacts. Solutions with underactuated mechanisms and flexible mechanisms are considered by looking at design problems and feasible mechanical designs. Previous experiences and expertise from Cassino group and Beijing BUAA group have been integrated in a unique frame for design purposes of a new low-cost easy-operation finger mechanism with object-adaptability characteristics.

引用

页码：1611 / 1616

页数：6

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