Title :
Optimal design of a five-bar finger with redundant actuation
Author :
LEE, Jae Hoon ; Yi, Byung-Ju ; Oh, Sang-Rok ; Suh, II Hong
Author_Institution :
Dept. of Control & Instrum. Eng., Hanyang Univ., Seoul, South Korea
Abstract :
In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is suggested. Optimal sets of actuator locations and link lengths for the cases of minimum actuator, one, two and three redundant actuators are obtained by employing composite design index which simultaneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Finally, several finger-configurations optimized for special performance indices are illustrated
Keywords :
actuators; control system synthesis; manipulator kinematics; optimisation; performance index; redundancy; actuator locations; five-bar finger; force transmission ratio; isotropic index; kinematic model; manipulators; optimisation; performance index; redundant actuation; workspace; Actuators; Arm; Fingers; Humans; Jacobian matrices; Joining processes; Joints; Kinematics; Robotic assembly; Robots;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680622
