Design and Optimization of a Tendon-driven Robotic Hand

被引：0

作者：

Wen, Ligang ^{[1
]}

Li, Yongyao ^{[1
]}

Cong, Ming ^{[1
]}

Lang, Haoxiang ^{[2
]}

Du, Yu ^{[3
]}

机构：

[1] Dalian Univ Technol, Sch Mech Engn, Dalian, Peoples R China

[2] Univ Ontario Inst Technol, Dept Mech Engn, Oshawa, ON, Canada

[3] Dalian Dahuazhongtian Technol Co Ltd, Dalian, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT) | 2017年

基金：

中国国家自然科学基金;

关键词：

robotic hand; tendon-driven mechanism; pulleys optimization; workspace simulation; grasping experiments;

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 a design and optimization of a dexterous tendon-driven robotic hand that each finger is under-actuated. The robotic hand has 9 DOFs and 6 motors with a modular design concept of three fingers. A theoretical analysis had been carried out to verify the mechanical structure of the proposed hand, optimize the location of the pulleys for efficient transmission and workspace by exam the kinematics model of the designed hand. Experimental results show good grasping performance of the proposed hand. It demonstrates that our three-fingered robotic hand can grasp these objects with different shapes.

引用

页码：767 / 772

页数：6

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