Abstract
AbstractA novel couple-constrained parallel wrist with three measuring force flexible fingers is designed for grabbing heavy objects and measuring grabbed forces. Its prototype is developed, its dynamics model is established, and its grabbing forces are measured. First, using the extended formulas of the skew-symmetric matrix, the kinematic formulas are derived for solving the Jacobian/Hessian matrices and the general velocity/acceleration of the moving links in the couple-constrained parallel wrist. Second, a dynamics model is established for solving the dynamic actuation forces, the couple-constrained forces, and the torque in the couple-constrained parallel wrist. Third, the theoretical solutions of the kinematics/dynamics of the couple-constrained parallel wrist are verified using a simulation mechanism. Finally, the grabbing forces of the three flexible fingers are measured and analyzed.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering,Control and Optimization,Mechanical Engineering,Modeling and Simulation,Artificial Intelligence,Computer Vision and Pattern Recognition,Computational Mechanics,Rehabilitation