Design of Underactuated Manipulator based on Metamorphic Theory
A new structure of underactuated manipulator is proposed to meet the need of multi-functional end fixture of robot. The most innovative point of the manipulator is that its end knuckle is completely passive envelope， which improves the grasping stability. The grasping attitude analysis and stability...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2020-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.015 |
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| _version_ | 1841547137118109696 |
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| author | Jialei Bao Kang Han Chengpu Zheng Yu'nan Cao Kai Sun |
| author_facet | Jialei Bao Kang Han Chengpu Zheng Yu'nan Cao Kai Sun |
| author_sort | Jialei Bao |
| collection | DOAJ |
| description | A new structure of underactuated manipulator is proposed to meet the need of multi-functional end fixture of robot. The most innovative point of the manipulator is that its end knuckle is completely passive envelope， which improves the grasping stability. The grasping attitude analysis and stability analysis are carried out， the feasibility of the scheme is verified， and the grasping attitude of different objects is verified. The prospect of the control strategy research is put forward. |
| format | Article |
| id | doaj-art-c57f364412434dcfb9d27265a47f5811 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-c57f364412434dcfb9d27265a47f58112025-01-10T14:56:13ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-01-0144909329795994Design of Underactuated Manipulator based on Metamorphic TheoryJialei BaoKang HanChengpu ZhengYu'nan CaoKai SunA new structure of underactuated manipulator is proposed to meet the need of multi-functional end fixture of robot. The most innovative point of the manipulator is that its end knuckle is completely passive envelope， which improves the grasping stability. The grasping attitude analysis and stability analysis are carried out， the feasibility of the scheme is verified， and the grasping attitude of different objects is verified. The prospect of the control strategy research is put forward.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.015End fixture |
| spellingShingle | Jialei Bao Kang Han Chengpu Zheng Yu'nan Cao Kai Sun Design of Underactuated Manipulator based on Metamorphic Theory Jixie chuandong End fixture |
| title | Design of Underactuated Manipulator based on Metamorphic Theory |
| title_full | Design of Underactuated Manipulator based on Metamorphic Theory |
| title_fullStr | Design of Underactuated Manipulator based on Metamorphic Theory |
| title_full_unstemmed | Design of Underactuated Manipulator based on Metamorphic Theory |
| title_short | Design of Underactuated Manipulator based on Metamorphic Theory |
| title_sort | design of underactuated manipulator based on metamorphic theory |
| topic | End fixture |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.015 |
| work_keys_str_mv | AT jialeibao designofunderactuatedmanipulatorbasedonmetamorphictheory AT kanghan designofunderactuatedmanipulatorbasedonmetamorphictheory AT chengpuzheng designofunderactuatedmanipulatorbasedonmetamorphictheory AT yunancao designofunderactuatedmanipulatorbasedonmetamorphictheory AT kaisun designofunderactuatedmanipulatorbasedonmetamorphictheory |