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	A Novel Underactuated Hand with Adaptive Robotic Fingers
	Bin Gao; Long Lei; Shijia Zhao; Ying Hu; Jianwei Zhang
	2016
会议名称	International Conference on Information and Automation
会议地点	宁波
英文摘要	This paper presented the concept of adaptation and underactuation applied to robotic grippers for manipulations. In order that the gripper can grasp the objects of different shapes, the adaptive and underactuated mechanism without any driving system in the joints was used. The main objective of this work is the fundamental analysis of this underactuated finger, including the dimensional design, kinetostatic analysis and performance evaluation. Firstly, the forces of the phalanges at the finger were calculated. Then, the performance of the mechanism was evaluated by the relationship between the driving force and the contact force, the stability of grasping and the dexterity of fingers. The results showed that the proposed self-adaptive and underactuated gripper can perform operations like human hands
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/10055]
专题	深圳先进技术研究院_集成所
作者单位	2016
推荐引用方式 GB/T 7714	Bin Gao,Long Lei,Shijia Zhao,et al. A Novel Underactuated Hand with Adaptive Robotic Fingers[C]. 见:International Conference on Information and Automation. 宁波.

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