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Please use this identifier to cite or link to this item: http://hdl.handle.net/123456789/4463

Title: Coupled-active Fingers with Linkage Mechanism
Other Titles: Coupled-active Fingers with Linkage Mechanism
Authors: 杨雷
Keywords: Humanoid robotic hand
coupled finger
active finger
self-adaptive grasp
under-actuation grasp
Issue Date: 2012
Abstract: A novel coupled-active (CA) finger with the linkage mechanism was designed. The CA finger possesses the advantage of coupled under-actuated (UA) finger and active finger. Its Working principle is that divide the process of grasping an object into two stages, coupled grasping stage and self-adaptive grasping stage. Add a new control strategy to the traditional UA finger. Make the two kinds of grasping pattern under control via working in different stages. Actually, the novel CA finger can work in four kinds of modes, which could expand the scope of working, and improve the working efficiency Still, this paper performs parameters and forces analysis to optimize the precept, and draw some conclusion on the CA finger with Linkage Mechanism.
Description: 11
URI: http://hdl.handle.net/123456789/4463
Source URI: http://oaps.lib.tsinghua.edu.cn/handle/123456789/2669
Source Fulltext: http://oaps.lib.tsinghua.edu.cn/bitstream/123456789/2669/1/121T0090-07-%e7%bb%93%e9%a2%98%e6%8a%a5%e5%91%8a-%e6%9d%a8%e9%9b%b7.pdf
Appears in Collections:SRT计划优秀项目奖结题报告(2012)

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