The Underactuation and Motion-coupling in Robotic Fingers and Two New 1-DOF Motion-coupling Anthropomorphic Fingers

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	The Underactuation and Motion-coupling in Robotic Fingers and Two New 1-DOF Motion-coupling Anthropomorphic Fingers
	Liu YW(刘玉旺); Wang HG(王洪光); Li B(李斌); Zhou WJ(周维佳)
	2009
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期	February 22-25, 2009
会议地点	Bangkok, THAILAND
关键词	robotic finger underactuation motion-coupling anthropomorphic
页码	1573-1578
通讯作者	刘玉旺
中文摘要	Present multifingered hands share a common drawback: the complexity of both the hardware and the software. The complexity is derived from tens of DOF and their actuators placed in small space, and results in the high weight and the non-reliability of the whole system. So many multifingered hands, especially the prosthetics and the hand developed for project application, adopt underactuation (in the finger or transmission system) or motion-coupling (in the finger) to reduce the number of actuators but not reduce the number of the DOF (underactuation) or the motion (motion-coupling), and accordingly debase the complexity of the multifingered hand. This paper firstly reviews the underactuation and motion-coupling used in existing anthropomorphic finger. And then based on the analysis of the existing motion-coupling anthropomorphic ringer, we propose two new 1-DOF motion-coupling anthropomorphic fingers based on linkage. The two new proposed fingers are more compact than the existing 1-DOF fingers based on linkage. The feasibility of the two proposed fingers is validated in the end, and a 3D-CAD model of the anthropomorphic hand SIA-I with new-proposed ringers is given.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robot & Automat Soc
会议录	2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-2678-2
WOS记录号	WOS:000271966900266
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8920]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu YW,Wang HG,Li B,et al. The Underactuation and Motion-coupling in Robotic Fingers and Two New 1-DOF Motion-coupling Anthropomorphic Fingers[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO). Bangkok, THAILAND. February 22-25, 2009.