Dynamic Analysis on Fingers of the Underwater Multi-fingered Robot Hand

Author

Jia, Peng ; Meng, Qingxin ; Wang, Liquan

Author_Institution

Harbin Eng. Univ., Harbin

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

757

Lastpage

762

Abstract

The dynamics is very important for the simulation and feedback-control design of the underwater-multi-fingered robot hand. But the dynamic of underwater-multi-fingered robot hand with many degrees of freedom is much more complicated if hydrodynamic terms are precisely treated, so the finger dynamics of underwater multi-fingered robot hand are analysed in the paper, and the precise dynamics model is established considering the drag force and added-mass force. What´s more, dynamic simulation is carried out by SimMechanics. The simulation result shows: the hydrodynamics forces are the most significant in magnitude, and the dynamic motion control must consider these parameters.

Keywords

control system analysis; dexterous manipulators; feedback; manipulator dynamics; marine systems; added-mass force; drag force; dynamic analysis; feedback-control design; hydrodynamic terms; underwater multi-fingered robot hand fingers; Design automation; Design engineering; Difference equations; Educational institutions; Fingers; Hydrodynamics; Mechatronics; Nonlinear dynamical systems; Robot kinematics; Robotics and automation; Dynamics modeling; Dynamics simulation; Underwater-multi-fingered robot hand;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303639

Filename

4303639