Design and analysis of a novel robotic gripper integrated with a three-phalanx finger

被引：2
|
作者：
Lee, Wei-chen [1 ]
Wu, Chih-Wei [1 ]
机构：
[1] Natl Taiwan Univ Sci & Technol, Dept Mech Engn, Taipei 10607, Taiwan
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2014年 / 228卷 / 10期
关键词：
Robot; gripper; underactuated finger; kinematic analysis; static analysis; HAND; PROSTHESIS;
D O I：
10.1177/0954406213511422
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The paper describes the development of an innovative robotic gripper. To increase grasping stability without using too much space or causing control complexity, a three-phalanx underactuated finger is embedded in the gripper. This research mainly focuses on the mechanical design, kinematic, and static analyses of the robotic gripper. The results obtained through both simulation and experiments show good correlation with the analytical results. The preliminary experimental grasping results demonstrate that this robotic gripper with an embedded finger can successfully perform various activities of daily living.
引用
收藏
页码：1786 / 1796
页数：11
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