Analysis on finger dynamics of dexterous underwater hand based on strip theory

被引：0
|
作者：
Wang, Hua
Meng, Qing-Xin
Wang, Li-Quan
机构：
[1] School of Mechanical and Power Engineering, Nanjing University of Technology, Nanjing 210009, China
[2] School of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
来源：
Jiqiren/Robot | 2007年 / 29卷 / 02期
关键词：
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The dynamics of underwater manipulator with many degrees of freedom is much more complicated if hydro-dynamic terms are precisely treated. The dynamics is important for the robot system simulation and feedback control design, so the finger dynamics of dexterous underwater hand is analyzed based on the strip theory, and the precise dynamics model is established considering the drag force and added-mass force. Dynamic simulation is carried out using SimMechanics. The results show that the hydrodynamic forces make the finger deflect from the required trajectory, and these parameters must be considered in the dynamic motion control.
引用
收藏
页码：160 / 166
相关论文
共 50 条
  • [1] Dynamic Analysis of Underwater Dexterous Hand
    Jia, Peng
    Li, Wei Li
    Yun, Fei Hong
    Wei, Zong Liang
    [J]. MANUFACTURING, DESIGN SCIENCE AND INFORMATION ENGINEERING, VOLS I AND II, 2015, : 573 - 579
  • [2] Task-based finger force analysis for robotics dexterous hand
    Ji, Tao
    Peng, Xiafu
    [J]. 10TH INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE & EDUCATION (ICCSE 2015), 2015, : 536 - 541
  • [3] Finger tracking control of underwater dexterous and based on fuzzy CAC
    Wang Hua
    Huang Xiaodiao
    He Jin
    [J]. PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 4, 2007, : 121 - 124
  • [4] Impedance control of underwater dexterous hand based on neural network
    Wang, Hua
    Meng, Qing-Xing
    He, Jin
    Wang, Li-Quan
    [J]. Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University, 2006, 27 (SUPPL.): : 124 - 128
  • [5] Dexterous underwater robot hand: HEU Hand II
    Meng, Qingxin
    Wang, Hua
    Li, Ping
    Wang, Liquan
    He, Ze
    [J]. IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 1477 - +
  • [6] An Underactuated Hand for Efficient Finger-Gaiting-Based Dexterous Manipulation
    Ma, Raymond R.
    Dollar, Aaron M.
    [J]. 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 2014, : 2214 - 2219
  • [7] A fingertip force sensor for underwater dexterous hand
    Wang, Hua
    [J]. JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2012, 26 (02) : 627 - 633
  • [8] A fingertip force sensor for underwater dexterous hand
    Hua Wang
    [J]. Journal of Mechanical Science and Technology, 2012, 26 : 627 - 633
  • [9] Finger contact sensing and the application in dexterous hand manipulation
    Hongbin Liu
    Kien Cuong Nguyen
    Véronique Perdereau
    Joao Bimbo
    Junghwan Back
    Matthew Godden
    Lakmal D. Seneviratne
    Kaspar Althoefer
    [J]. Autonomous Robots, 2015, 39 : 25 - 41
  • [10] Finger contact sensing and the application in dexterous hand manipulation
    Liu, Hongbin
    Kien Cuong Nguyen
    Perdereau, Veronique
    Bimbo, Joao
    Back, Junghwan
    Godden, Matthew
    Seneviratne, Lakmal D.
    Althoefer, Kaspar
    [J]. AUTONOMOUS ROBOTS, 2015, 39 (01) : 25 - 41
12345