Abstract
SUMMARYAn underactuated mechanism is presented as a new finger design for improving grasp adaptability of LARM Hand fingers. Underactuation is discussed as a feasible solution through several design structures for finger adaptability to shape and size of objects to be grasped. The proposed underactuated solution for a new LARM finger is characterized through simulation results in ADAMS environment for operation feasibility and performance.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference26 articles.
1. C. M. Gosselin and T. Lalibertè , Underactuated mechanical finger with return actuation, US patent 5762390, June (1998).
2. Grasping in Robotics
3. Design of LARM hand: Problems and solutions;Carbone;J. Control Eng. Appl. Inform.,2008
4. Design and tests of a three finger hand with 1-DOF articulated fingers;Rodriguez;Robotica,2006
5. Fundamentals of Mechanics of Robotic Manipulation
Cited by
18 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献