Prototype and Simulation Model of a Robotic Hand

被引：0

作者：

Kordaczek, Rafal ^{[1
]}

Pilat, Adam Krzysztof ^{[1
]}

机构：

[1] AGH Univ Sci & Technol, Dept Automat Control & Robot, Fac Elect Engn Automat Comp Sci & Biomed Engn, A Mickiewicza 30, PL-30059 Krakow, Poland

来源：

15TH INTERNATIONAL CONFERENCE MECHATRONIC SYSTEMS AND MATERIALS, MSM'20 | 2020年

关键词：

robotic hand; tendon driven; optimization; simscape multibody; modelling; design; 3d print; force sensors; DESIGN;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This elaboration describes the whole process of robotic hand design and modelling in order to improve some of the key performance aspects of tendon driven mechanisms. The hand model is simulated in Simscape Multibody Environment to accurately predict the performance of various designs. Some of developed mechanical solutions lead to reducing the wear, improving torque figures and enhancing rigidity.

引用

页码：53 / 58

页数：6

共 50 条

[21] VALIDATION OF A SIMULATION MODEL FOR ROBOTIC SACROCOLPOPEXY
Tarr, M. E.
Anderson-Montoya, B. L.
Vilasagar, S.
Myers, E. M.
INTERNATIONAL UROGYNECOLOGY JOURNAL, 2019, 30 : S13 - S13
[22] Validation of a Simulation Model for Robotic Sacrocolpopexy
Tarr, Megan E.
Anderson-Montoya, Brittany L.
Vilasagar, Smitha
Myers, Erinn M.
FEMALE PELVIC MEDICINE AND RECONSTRUCTIVE SURGERY, 2022, 28 (01): : 14 - 19
[23] Prototype Realization of a Human Hand-Inspired Needle Driver for Robotic-Assisted Surgery
Sallam, Mohamed
Fontanelli, Giuseppe Andrea
Gallo, Alessandra
La Rocca, Roberto
Sardo, Attilio Di Spiezio
Longo, Nicola
Ficuciello, Fanny
IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS, 2023, 5 (04): : 843 - 856
[24] Validation of a Simulation Model for Robotic Myomectomy
Schneyer, Rebecca J.
Scheib, Stacey A.
Green, Isabel C.
Molina, Andrea L.
Mara, Kristin C.
Wright, Kelly N.
Siedhoff, Matthew T.
Truong, Mireille D.
JOURNAL OF MINIMALLY INVASIVE GYNECOLOGY, 2024, 31 (04) : 330 - 340.e1
[25] Trajectory Simulation for a Robotic Platform Using a Virtual Prototype and a Python–Adams Interface
Duyun I.A.
Duyun T.A.
Russian Engineering Research, 2023, 43 (01) : 103 - 106
[26] Pitching simulation with musculoskeletal model of hand
Yokohata, Ryosuke
Imura, Masataka
Kuroda, Yoshihiro
Uranishi, Yuki
Oshiro, Osamu
Transactions of Japanese Society for Medical and Biological Engineering, 2014, 52 (01): : 1 - 10
[27] Modelling and Simulation of a Multi-fingered Robotic Hand for Grasping Tasks
Corrales, J. A.
Jara, C. A.
Torres, F.
11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010), 2010, : 1577 - 1582
[28] A prototype-based skill model for specifying robotic assembly tasks
Naegele, Frank
Halt, Lorenz
Tenbrock, Philipp
Pott, Andreas
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2018, : 558 - 565
[29] Model-based visual hand posture tracking for guiding a dexterous robotic hand
Cui, JS
Sun, ZQ
OPTICS COMMUNICATIONS, 2004, 235 (4-6) : 311 - 318
[30] Prototype robotic masonry system
Altobelli, Frank
Taylor, Henry F.
Bernold, Leonhard E.
Journal of Aerospace Engineering, 1993, 6 (01): : 19 - 33

← 1 2 3 4 5 →