Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism.This type of gripper mechanism can be applied to grasp large or heavy objects in diff...Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism.This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans.This study proposes a family of novel(5+1)degrees of freedom(three translations and two rotations plus an additional grasping motion)gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform.First,the configurable moving platform,which is a closed loop,is designed for grasping manipulation.The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios.A sufficient rule based on Lie group theory is proposed to synthesize the mechanism.TTie hybrid limb structure is also enumerated.A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule.Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study.A kinematic analysis of the example mechanism is presented.The workspace shows that the mechanism possesses high rotational capability.In addition,a stiffiiess analysis is performed.展开更多
A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theo...A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theory was applied to calculate the 3D information of the hand gesture. The information was used to generate the grasping action parameters of a 3-finger dexterous mechanical gripper. Combined with a force feedback device, a closed control loop could be constructed. The test for the precision of the algorithms and action control simulation result were shown in the paper.展开更多
基金This research work was supported by the Fundamental Research Funds for the Central Universities,China(Grant No.2020YJS153)the National Natural Science Foundation of China(Grant No.51975039).
文摘Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism.This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans.This study proposes a family of novel(5+1)degrees of freedom(three translations and two rotations plus an additional grasping motion)gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform.First,the configurable moving platform,which is a closed loop,is designed for grasping manipulation.The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios.A sufficient rule based on Lie group theory is proposed to synthesize the mechanism.TTie hybrid limb structure is also enumerated.A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule.Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study.A kinematic analysis of the example mechanism is presented.The workspace shows that the mechanism possesses high rotational capability.In addition,a stiffiiess analysis is performed.
文摘A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theory was applied to calculate the 3D information of the hand gesture. The information was used to generate the grasping action parameters of a 3-finger dexterous mechanical gripper. Combined with a force feedback device, a closed control loop could be constructed. The test for the precision of the algorithms and action control simulation result were shown in the paper.
