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
fDate :
Oct. 30 2013-Nov. 2 2013
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;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677296
