DocumentCode
651043
Title
Structure design and static analysis of 3-DOF structure dexterous hand
Author
Yanju Tian ; Xiaodong Zhang ; Jiangcheng Chen
Author_Institution
Sch. of Mech. Eng., Xi´an Jiaotong Univ., Xian, China
fYear
2013
fDate
Oct. 30 2013-Nov. 2 2013
Firstpage
397
Lastpage
401
Abstract
Through analyzing the structure characteristics of existing prosthetic hand, a 3-DOF prosthetic hand with link mechanism as transmission mechanism is put forward. This hand has the advantages of small size, light weight and simple control principle. Based on this, static analysis on one finger is derived, and the relationship between driving force on rack and contact force on finger is obtained using the principle of virtual work. All of this lay the foundation of selecting motor and controlling grasping force.
Keywords
control system synthesis; dexterous manipulators; force control; prosthetics; 3-DOF prosthetic hand; 3-DOF structure dexterous hand; contact force; grasping force control; link mechanism; static analysis; structure design; transmission mechanism; virtual work; contact force; driving force; link mechanism;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location
Jeju
Print_ISBN
978-1-4799-1195-0
Type
conf
DOI
10.1109/URAI.2013.6677296
Filename
6677296
Link To Document