期刊文献+
共找到1篇文章
< 1 >
每页显示 20 50 100
Mechanical design,modeling,and identification for a novel antagonistic variable stiffness dexterous finger
1
作者 handong hu Yiwei LIU +2 位作者 Zongwu XIE Jianfeng YAO Hong LIU 《Frontiers of Mechanical Engineering》 SCIE CSCD 2022年第3期59-74,共16页
This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments,such a... This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments,such as unstructured or man-made operational errors through comprehensive consideration of cost,accuracy,manufacturing,and application.Based on the concept of mechanical passive compliance,which is widely implemented in robots for interactions,a finger is dedicated to improving mechanical robustness.The finger mechanism not only achieves passive compliance against physical impacts,but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators.It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness.The mechanical design of the finger and its stiffness adjusting methods are elaborated.The stiffness characteristics of the finger joint and the actuation unit are analyzed.Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model.Fingers have been experimentally proven to be robust against physical impacts.Moreover,the experimental part verifies that fingers have good power,grasping,and manipulation performance. 展开更多
关键词 multifingered hand mechanism design robot safety variable stiffness actuator
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部