Kinematics Analysis on Humanoid Flexible Robot Hand

被引：0
|
作者：
Liu, Xiaomin [1 ,2 ]
Wang, Yiqiang [1 ]
Geng, Dexu [2 ]
Zhang, Jintao [2 ]
Wu, Guangbin [2 ]
机构：
[1] Jilin Univ, Coll Mech Sci & Engn, Nanling Campus, Changchun, Jilin, Peoples R China
[2] Beihua Univ, Engn Training Ctr, Jilin, Jilin, Peoples R China
来源：
FRONTIERS OF MECHANICAL ENGINEERING AND MATERIALS ENGINEERING, PTS 1 AND 2 | 2012年 / 184-185卷
关键词：
Flexible joint; Humanoid robot hand; Position and posture; Grasp;
D O I：
10.4028/www.scientific.net/AMM.184-185.1660
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A humanoid flexible robot hand is introduced base on the single bending joint and bi-directional bending flexible joint we previously developed. The robot hand has human palm shape, and all the fingers have the same structure based on the modular design, which improve the versatility and interchangeability greatly. The position and posture of the fingers are acquired by means of homogeneous transformation matrix with parameter. The study in this paper lays the foundation for further research.
引用
收藏
页码：1660 / +
页数：2
相关论文
共 50 条
  • [1] Kinematics analysis of humanoid robot
    Yang, Dongchao
    Liu, Li
    Xu, Kai
    Wang, Jinsong
    Chen, Ken
    [J]. Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2003, 39 (09): : 70 - 74
  • [2] Design of a Flexible Articulated Robotic Hand for a Humanoid Robot
    Tian, Li
    Liu, Jing
    Thalmann, Nadia Magnenat
    Thalmann, Daniel
    Zheng, Jianmin
    [J]. 2019 IEEE-RAS 19TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2019, : 572 - 577
  • [3] Integrating a flexible anthropomorphic, robot hand into the control, system of a humanoid robot
    Osswald, D
    Martin, J
    Burghart, C
    Mikut, R
    Wörn, H
    Bretthauer, G
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2004, 48 (04) : 213 - 221
  • [4] Inverse Kinematics and Workspace Analysis of a 3 DOF Flexible Parallel Humanoid Neck Robot
    Gao, Bingtuan
    Zhu, Zhenyu
    Zhao, Jianguo
    Jiang, Leijie
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2017, 87 (02) : 211 - 229
  • [5] Inverse Kinematics and Workspace Analysis of a 3 DOF Flexible Parallel Humanoid Neck Robot
    Bingtuan Gao
    Zhenyu Zhu
    Jianguo Zhao
    Leijie Jiang
    [J]. Journal of Intelligent & Robotic Systems, 2017, 87 : 211 - 229
  • [6] Kinematics Analysis Based on Screw Theory of a Humanoid Robot
    MAN Cui-hua1
    [J]. International Journal of Mining Science and Technology, 2007, (01) : 49 - 52
  • [7] Kinematics Analysis Based on Screw Theory of a Humanoid Robot
    MAN, Cui-hua
    FAN, Xun
    LI, Cheng-rong
    ZHAO, Zhong-hui
    [J]. Journal of China University of Mining and Technology, 2007, 17 (01): : 49 - 52
  • [8] The Simulation Analysis of Humanoid Robot Based on Dynamics and Kinematics
    Deng, Xing-qiao
    Wang, Jin-ge
    Xiang, Zhong-fan
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, PROCEEDINGS, 2008, 5314 : 93 - +
  • [9] Kinematics Analysis and Grasping Simulation of a Humanoid Underactuated Dexterous Hand
    Zhang, Xiangyan
    Li, Haiyuan
    Zhang, Bin
    Zhang, Qinjian
    Cai, Yingpeng
    [J]. 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE-ROBIO 2021), 2021, : 55 - 60
  • [10] The Mechanisms in a Humanoid Robot Hand
    Yoky Matsuoka
    [J]. Autonomous Robots, 1997, 4 : 199 - 209
12345