机械制造与自动化Issue(6)：97-99,132,4.
一种4自由度三指灵巧手的设计和运动学分析与仿真研究
Design,Kinematic Analysis and Simulation of Four-DOF Three-fingered Dexterous Hand
李正祥 1钱瑞明1
作者信息
- 1. 东南大学 机械工程学院，江苏 南京211189
- 折叠
摘要
Abstract
A three-fingered dexterous hand with four-DOF and eight-joints is designed, and its special operation mode is presented in this paper. The adaptability and reliability of its grasping are improved greatly, owing to the logical control of torque switch and the ad-justment of relative position between three fingers. The forward and inverse kinematics solutions are solved, and the correctness of kinematics model is proved by computer simulation. This paper provides the theoretical foundation for further study of this three-fin-gered dexterous hand.关键词
三指灵巧手/力矩转换器/运动学/正解/逆解/仿真Key words
three-fingered dexterous hand/torque switch/kinematics/forward solution/inverse solution/simulation分类
信息技术与安全科学引用本文复制引用
李正祥,钱瑞明..一种4自由度三指灵巧手的设计和运动学分析与仿真研究[J].机械制造与自动化,2014,(6):97-99,132,4.
