TY - GEN
T1 - Design of a super underactuated dexterous robotic hand
AU - Ma, Xiaoshuai
AU - Zhang, Weimin
AU - Chen, Xuechao
AU - Yu, Zhangguo
AU - Ding, Wenpeng
AU - Qin, Mingyue
AU - Ming, Aiguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - The development of a dexterous robotic hand is one of the most important research areas in robotics. In order to grasp a variety of objects, the dexterous robot needs more degrees of freedom, so it requires many motors and complicated structures, which leads to an increase in the weight and size of the dexterous robot hand. This article presents a novel super underactuated robotic hand that uses just one motor and has three cooperative fingers with two phalanxes per finger. The three fingers have the same structure, work in a cooperative mechanism and is driven by the single motor, with a total of 6 degrees of freedom. The grasping principle, process and force analysis are given. Force analysis shows that the super underactuated robot hand is valid and could be used as an end-effecter of humanoid robots. The experiment results verify the stability of the novel mechanism.
AB - The development of a dexterous robotic hand is one of the most important research areas in robotics. In order to grasp a variety of objects, the dexterous robot needs more degrees of freedom, so it requires many motors and complicated structures, which leads to an increase in the weight and size of the dexterous robot hand. This article presents a novel super underactuated robotic hand that uses just one motor and has three cooperative fingers with two phalanxes per finger. The three fingers have the same structure, work in a cooperative mechanism and is driven by the single motor, with a total of 6 degrees of freedom. The grasping principle, process and force analysis are given. Force analysis shows that the super underactuated robot hand is valid and could be used as an end-effecter of humanoid robots. The experiment results verify the stability of the novel mechanism.
KW - Cooperative mechanism
KW - Force analysis
KW - Four-link mechanism
KW - Underactuated mechanism
UR - http://www.scopus.com/inward/record.url?scp=85056324594&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2018.8484724
DO - 10.1109/ICMA.2018.8484724
M3 - Conference contribution
AN - SCOPUS:85056324594
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 724
EP - 729
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Y2 - 5 August 2018 through 8 August 2018
ER -