KINEMATICS ANALYSIS AND CONTROL OF A THREE:FINGERED METAMORPHIC ROBOT HAND

被引：0

作者：

Calzati, Matteo ^{[1
,2
]}

Zhang, Ketao ^{[3
]}

Castelli, Vincenzo Parenti ^{[4
]}

Dai, Jian S. ^{[3
]}

机构：

[1] Univ London, Kings Coll London, Ctr Robot Res, London WC1E 7HU, England

[2] Univ Bologna, Alma Mater Studiorum, Viale Risorgimento 2, Bologna, Italy

[3] Univ London, Kings Coll London, Sch Nat & Math Sci, Ctr Robot Res, London WC2R 2LS, England

[4] Univ Bologna, Alma Mater Studiorum, Dipartimento Ingn Ind, Meccan Applicata Macchine, Bologna, Italy

来源：

PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2016, VOL 5B | 2016年

关键词：

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents the kinematics analysis of a three fingered metamorphic hand (Metahand) and the Lab View based control system of the robotic hand. In this study, the structure of the Metahand composed of an articulated palm and three fingers is introduced first. With the design parameters of the hybrid structure of the Metahand, analytical modeling of both forward and inverse kinematics is revealed, leading to reachable workspace and trajectory of all three fingertips. In particular, the analytical modeling of inverse kinematics is further verified by a numeric method Following the theoretical investigation, a complete prototype with integrated servomotors and electric circuit for control system are produced. Further, a control system with Lab View software is developed to realize the kinematics based control algorithm. A number of grasping tests are implemented to demonstrate the dexterity of the three fingered Metahand.

引用

页数：10

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