| 题名 | Mathematical Modelling of a Four-Fingered Metamorphic Anthropomorphic Hand on Precision Grasp |
| 作者 | |
| DOI | |
| 发表日期 | 2024-06-26
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| ISBN | 979-8-3503-9597-6
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| 会议录名称 | |
| 会议日期 | 23-26 June 2024
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| 会议地点 | Chicago, IL, USA
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| 摘要 | For a metamorphic robotic hand with a foldable palm, its finger operation planes change with palm configurations. Although this reconfigurable design can enhance the grasp flexibility, manipulation workspace and application adaptability, the hand's grasp stability cannot be guaranteed when the palm reconfigures. Especially for the four-fingered metamorphic hand performing precision grasps in anthropomorphic postures, improper control of the palm configurations can result in unsuccessful grasps, which may even lead to hand damage. This paper first displays the workspace of the four-fingered anthropomorphic hand for generating precision grasp gestures. Based on it, force-closure/-balance analyses are performed, deriving the effective precision grasp workspace for typical anthropomorphic postures classified by built mathematical definition. Grasp levels are further discussed by introducing an evaluation method which considers the minimum friction coefficient (MFC) as the quality metric. The proposed scheme gives a way to depict the grasp performance of every robotic hand configuration, without considering specific objects that are to be grasped. Dynamic changes in postures' grasp performance with palm configurations are exhibited in the end. |
| 学校署名 | 其他
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| 相关链接 | [IEEE记录] |
| 收录类别 | |
| 引用统计 | |
| 成果类型 | 会议论文 |
| 条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/803327 |
| 专题 | 工学院_机械与能源工程系 |
| 作者单位 | 1.Department of Mechanical and Electrical Engineering, Centre of Advanced Oil and Gas Equipment, China University of Petroleum (Beijing), Beijing, China 2.Department of Engineering, Centre for Robotics Research, King's College London, London, UK 3.Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen, China |
| 推荐引用方式 GB/T 7714 |
Tun Wang,Yen-Hua Lin,Jian S. Dai. Mathematical Modelling of a Four-Fingered Metamorphic Anthropomorphic Hand on Precision Grasp[C],2024.
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| 条目包含的文件 | 条目无相关文件。 | |||||
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