东南大学学报（英文版）2018，Vol.34Issue(3)：309-316,8.DOI:10.3969/j.issn.1003-7985.2018.03.005
绳驱动式欠驱动机械手稳定抓取构型分析
Stable grasping gesture analysis of a cable-driven underactuated robotic hand
摘要
Abstract
The stable grasping gesture of a novel cable-driven robotic hand is analyzed.The robotic hand is underactuated,using tendon-pulley transmission and a parallel four-linkage mechanism to realize grasp.The structure design and a basic grasping strategy of one finger was introduced.According to the established round object enveloping grasp model,the relationship between the contacting and driving forces in a finger and stable grasping conditions were expounded.A method of interpolation and iteration was proposed to obtain the stable grasping gesture of the cable-driven hand grasping a round target.Quasi-statics analysis in ADAMS validated the variation of grasping forces,which illustrated the feasibility and validity of the proposed analytical method.Three basic types of grasping gestures of the underactuated hand were obtained on the basis of the relationship between the contact forces and position of a gasped object.关键词
抓取位形/绳轮传动/欠驱动/抓取力Key words
grasp gesture/tendon-pulley transmission/underactuated/grasp force分类
航空航天引用本文复制引用
吕辛,乔尚岭,黄勇,刘荣强..绳驱动式欠驱动机械手稳定抓取构型分析[J].东南大学学报（英文版）,2018,34(3):309-316,8.基金项目
The National Natural Science Foundation of China (No.U1613201,51275107),Shenzhen Research Funds (No.JCYJ20170413104438332). （No.U1613201,51275107）
