论文信息 - An Optimal Design for a New Underactuated Finger Mechanism

An Optimal Design for a New Underactuated Finger Mechanism

In this paper, design problems and requirements for underactuated mechanisms are discussed as related to robotic fingers. Performance characteristics and optimality criteria are analyzed with the aim to formulate a general design algorithm as based on a suitable multi-objective optimization problem. An example of underactuated finger is illustrated as applied to an improvement of LARM Hand with the aim to show the practical feasibility of the proposed concepts and computations.

[1] E. A. Al-Gallaf. Multi-fingered robot hand optimal task force distribution: Neural inverse kinematics approach , 2006, Robotics Auton. Syst..

[2] Marco Ceccarelli,et al. Designing an underactuated mechanism for a 1 active DOF finger operation , 2009 .

[3] Yong-Mo Moon,et al. Bio-mimetic design of finger mechanism with contact aided compliant mechanism , 2007 .

[4] Clément Gosselin,et al. Grasp-state plane analysis of two-phalanx underactuated fingers , 2006 .

[5] Gerd Hirzinger,et al. The modular multisensory DLR-HIT-Hand , 2007 .

[6] Gordon R. Pennock,et al. Theory of Machines and Mechanisms , 1965 .

[7] Marco Ceccarelli,et al. Optimal design of driving mechanism in a 1-DOF anthropomorphic finger , 2006 .

[8] Marco Ceccarelli,et al. Design Considerations for Underactuated Grasp with a one D.O.F. Anthropomorphic Finger Mechanism , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.