首页|期刊导航|重庆邮电大学学报（自然科学版）|Optimal design and workspace analysis of tooth-arrangement three-fingered dexterous hand
重庆邮电大学学报（自然科学版）2009，Vol.21Issue(2)：228-234,7.
Optimal design and workspace analysis of tooth-arrangement three-fingered dexterous hand
Optimal design and workspace analysis of tooth-arrangement three-fingered dexterous hand
摘要
Abstract
Based on analysis of human hand grasp, the finger number and the kinematic pair pattern are decided. Aiming at the parameters of each finger, a multi-objective function for optimizing the structure of multi-fingered hand was proposed. Considering the peculiarity of tooth-arrangement and dexterous hand grasp, the constraints were established, and a satisfactory result was gained. Furthermore, the optimal results were analyzed, and a law of parameter optimal design was given. It is proved that this optimization method is effective to optimize the relation of each parameter and make it integrated optimum under each standard. At last, the practical workspace of this hand was analysed and simulated. And a new effective simulation method of workspace was proposed.关键词
dexterous hand/structural parameter/optimal design/workspace analysis/MatlabKey words
dexterous hand/structural parameter/optimal design/workspace analysis/Matlab分类
信息技术与安全科学引用本文复制引用
ZHAO Yan-jiang,ZHANG Yong-de,SHAO Jun-peng..Optimal design and workspace analysis of tooth-arrangement three-fingered dexterous hand[J].重庆邮电大学学报（自然科学版）,2009,21(2):228-234,7.基金项目
This work was funded by Heilongjiang Province Education Bureau Project Grant 10541055. （）
