Modeling and Simulation of Biomimetic Motion Dynamics for Dextrous Hand

被引：0
|
作者：
Zhang, Mingkun [1 ]
Shi, Yizhi [1 ]
Shen, Jun [1 ]
Li, Yao [1 ]
机构：
[1] Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Intelligent Neural Mechatron Ctr, Hon Kwok Ctr, 10th Floor,Block B,Jin Yu Rd 85, Chongqing 401122, Peoples R China
来源：
PROCEEDINGS OF 2013 CHINESE INTELLIGENT AUTOMATION CONFERENCE: INTELLIGENT AUTOMATION | 2013年 / 254卷
关键词：
Dextrous hand; Biomimetic motion dynamics; Lagrangian method; SimMechanics;
D O I：
10.1007/978-3-642-38524-7_63
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Analysis of kinematics and dynamics of the BarrettHand BH8 is implemented. Forward kinematic, inverse kinematic and differential kinematic model of one finger are established. Workspace of the fingertip and inverse kinematic examples are simulated and the analytical solution of inverse kinematics is obtained. The dynamic modeling and motion simulation of the dexterous hand finger are performed by SimMechanics toolbox in Matlab/Simulink environment. The results indicate that the proposed simulation method is effective in analyzing designing complex biomimetic motion dynamics for dextrous hand.
引用
收藏
页码：579 / 589
页数：11
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