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
发表期刊IEEE Transactions on Automation Science and Engineering
2023
页码1-13
产权排序1
摘要

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.

关键词Dexterous hand Underactuated planar linkage Spherical mechanism Grasp manipulation.
收录类别SCI
语种英语
WOS记录号WOS:001005060400001
是否为代表性论文
七大方向——子方向分类智能机器人
国重实验室规划方向分类实体人工智能系统(软、硬件)
是否有论文关联数据集需要存交
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/51596
专题多模态人工智能系统全国重点实验室
通讯作者Zeng-Guang Hou
作者单位1.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
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
推荐引用方式
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.
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