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Please use this identifier to cite or link to this item: http://hdl.handle.net/123456789/4461

Title: LISA Hand: Indirect Self-Adaptive Robotic Hand on the Road towards Robust Grasping and Simplicity
Authors: 金剑
Keywords: Humanoid robot
robotic hand
self-adaptive grasp
under-actuated finger
linkage indirectly self-adaptation
Issue Date: 2012
Abstract: Humanoid robotic hand is one of the most impressive research focuses in robotics. There are two basic requirements in humanoid robotic hands: functionally, the robotic hands should be able to stably grasp common objects, whether in movement or stasis, in various shapes and sizes, and structurally they should be structure-simple and easy controlled in humanoid appearance and sizes. Most of present dexterous robotic hands could not balance above two aspects whereas some under-actuated robotic hands in simple structure could perform self-adaptive grasp stably. In searching for simple architecture and effective grasp at once, a novel under-actuated robotic hand, which is called Linkage Indirectly Self-Adaptive Under-actuated Hand, LISA Hand, is designed and manufactured. The LISA Hand could achieve the above requirements well, and the key of the LISA Hand is special and simple structure of its fingers. The indirectly under-actuated LISA finger can utilize the inverse forces from objects grasped to realize action of the next joint without any motor. Each of LISA fingers is composed with multiple-class block-linkage-slot transmission mechanisms, multiple springs and only one motor with a reducer. The LISA Hand has 5 fingers, 14 joint DOFs and only 5 motors. All fingers in the LISA Hand are similar. The thumb has two joints, and each of the other four fingers has three joints. Self-adaptation for good grasping performance is designed as the main function of the LISA finger. The architecture, development, grasping principle and process, and force analysis of the LISA Hand are given. Furthermore, force analysis and grasping experimental results show that the LISA Hand could stably grasp objects in various shapes and sizes, thus is valid and could be regarded as an end-effecter of humanoid robots.
Description: 24
URI: http://hdl.handle.net/123456789/4461
Source URI: http://oaps.lib.tsinghua.edu.cn/handle/123456789/2621
Source Fulltext: http://oaps.lib.tsinghua.edu.cn/bitstream/123456789/2621/1/121T0090-03%e7%bb%93%e9%a2%98%e6%8a%a5%e5%91%8a-%e9%87%91%e5%89%91.pdf
Appears in Collections:SRT计划优秀项目奖结题报告(2012)

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