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[2018-Vol.15-Issue 1]Humanoid Design of Mechanical Fingers Using a Motion Coupling and Shape-adaptive Linkage Mechanism
发布时间: 2018-03-18 16:49  点击:2074
Journal of Bionic Engineering
 
Volume 15, Issue 1, October 2018, Pages 94-105.
 
Yi Zhang1,2,3, Hua Deng2,3, Guoliang Zhong2,3*
1. College of Mechanical & Electrical Engineering, Changsha University, Changsha 410022, China
2. State Key Laboratory of High-Performance Complex Manufacturing, Central South University, Changsha 410083, China
3. School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China
 
Abstract  This paper proposes a novel underactuated finger mechanism based on a motion coupling and shape-adaptive linkage design that combines anthropomorphic free motion and adaptive grasping. The proposed three-joint finger mechanism with one active Degree of Freedom (DOF) consists of a five-linkage mechanism in the proximal phalanx and a mechanism comprising two parallel planar four-bar linkages in the middle phalanx. The respective mechanism allows the simultaneously rotation of their corresponding phalanges in the plane before making contact with an object, and can fully envelop an object, even if certain phalanges are blocked. The duel parallel four-bar linkage mechanism is adopted to improve the grasping capacity of the distal phalanx. An optimal design of the finger is presented according to anthropomorphic phalanx trajectories and maximized grasping forces obtained with consideration for the angular velocity relationships of the three phalanges and their force transmission performances. The functionality of the proposed finger mechanism is verified through multiple simulations and grasping experiments using a prototype finger.

Key words  humanoid finger      underactuated mechanism      linkage mechanism      adaptive grasp  

Full text is available at    http://jbe.jlu.edu.cn/EN/Y2018/V15/I1/94

 

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