CASIA OpenIR  > 多模态人工智能系统全国重点实验室
A linkage-driven underactuated robotic hand for adaptive grasping and in-hand manipulation
Guotao Li1; Xu Liang2; Yifan Gao2; Tingting Su3; Zhijie Liu4; Zeng-Guang Hou1
Source PublicationIEEE Transactions on Automation Science and Engineering
2023
Pages1-13
Contribution Rank1
Abstract

The development of robotic hand that can imitate human movements has always been an important research topic. In this paper, a linkage-driven underactuated three-finger hand is proposed to imitate the flexion/extension (f/e) and abduction/adduction (a/a) motions of human hand. The robotic hand has three identical underactuated fingers, each of which contains an underactuated planar linkage, a spherical four-bar mechanism, and a set of bevel gears. The spherical four-bar mechanism is designed to provide 2-degree-of-freedom actuation, driving the f/e and a/a motions of the proximal joint simultaneously. Based on screw theory, the kinematic model of the spherical mechanism is established, and the maximum available workspace index (MAW) of the spherical mechanism is proposed to evaluate the workspace with the same adduction and abduction angle ranges. The effects of the parameters of the spherical mechanism on the MAW and the transmission efficiency are obtained, and the parameters of the spherical mechanism are optimized. The optimization results show that the MAW of the spherical mechanism can be increased by up to 3.5 times. Finally, experiments are carried out to show the proposed robotic hand can perform simultaneous adaptive grasping and in-hand manipulation.

KeywordDexterous hand Underactuated planar linkage Spherical mechanism Grasp manipulation.
Indexed BySCI
Language英语
WOS IDWOS:001005060400001
IS Representative Paper
Sub direction classification智能机器人
planning direction of the national heavy laboratory实体人工智能系统(软、硬件)
Paper associated data
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/51596
Collection多模态人工智能系统全国重点实验室
Corresponding AuthorZeng-Guang Hou
Affiliation1.the State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences
2.the Department of Mechanical and Electrical Engineering, North China University of Technology
3.Faculty of Information Technology, Beijing University of Technology
4.School of Intelligence Science and Technology and the Institute of Artificial Intelligence, University of Science and Technology Beijing
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Guotao Li,Xu Liang,Yifan Gao,et al. A linkage-driven underactuated robotic hand for adaptive grasping and in-hand manipulation[J]. IEEE Transactions on Automation Science and Engineering,2023:1-13.
APA Guotao Li,Xu Liang,Yifan Gao,Tingting Su,Zhijie Liu,&Zeng-Guang Hou.(2023).A linkage-driven underactuated robotic hand for adaptive grasping and in-hand manipulation.IEEE Transactions on Automation Science and Engineering,1-13.
MLA Guotao Li,et al."A linkage-driven underactuated robotic hand for adaptive grasping and in-hand manipulation".IEEE Transactions on Automation Science and Engineering (2023):1-13.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Guotao Li]'s Articles
[Xu Liang]'s Articles
[Yifan Gao]'s Articles
Baidu academic
Similar articles in Baidu academic
[Guotao Li]'s Articles
[Xu Liang]'s Articles
[Yifan Gao]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Guotao Li]'s Articles
[Xu Liang]'s Articles
[Yifan Gao]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.