Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator
Aiming at the multi-mode grasping problem of the under-actuated manipulator， an under-actuated manipulator with detachable fingers and composite grasping function is proposed. In order to study the grasping performance of the under-actuated manipulator， a spring-adaptive three-knuckle finger mechani...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-11-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.11.009 |
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| author | Xiangpeng Lei Shufeng Tang Wei Liang Zirui Guo |
| author_facet | Xiangpeng Lei Shufeng Tang Wei Liang Zirui Guo |
| author_sort | Xiangpeng Lei |
| collection | DOAJ |
| description | Aiming at the multi-mode grasping problem of the under-actuated manipulator， an under-actuated manipulator with detachable fingers and composite grasping function is proposed. In order to study the grasping performance of the under-actuated manipulator， a spring-adaptive three-knuckle finger mechanism and a double four-link three-knuckle finger mechanism are developed respectively. Both finger mechanisms use the motion principle of four-link mechanism. The nature of the finger greatly affects the grasp stability of the under-actuated manipulator. The properties of a single finger of an under-actuated manipulator are analyzed， and the influence of the position of the joint contact point and the contact force on the grasp stability is analyzed. A theoretical analysis method of the contact force and moment balance is proposed， and the factors affecting the grasping stability factor are discussed. |
| format | Article |
| id | doaj-art-dcda16151385431d9011c930cb7a1eae |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-dcda16151385431d9011c930cb7a1eae2025-01-10T14:55:04ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-11-0144535829792629Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger ManipulatorXiangpeng LeiShufeng TangWei LiangZirui GuoAiming at the multi-mode grasping problem of the under-actuated manipulator， an under-actuated manipulator with detachable fingers and composite grasping function is proposed. In order to study the grasping performance of the under-actuated manipulator， a spring-adaptive three-knuckle finger mechanism and a double four-link three-knuckle finger mechanism are developed respectively. Both finger mechanisms use the motion principle of four-link mechanism. The nature of the finger greatly affects the grasp stability of the under-actuated manipulator. The properties of a single finger of an under-actuated manipulator are analyzed， and the influence of the position of the joint contact point and the contact force on the grasp stability is analyzed. A theoretical analysis method of the contact force and moment balance is proposed， and the factors affecting the grasping stability factor are discussed.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.11.009Under-actuated manipulatorFinger mechanismOptimization designContact forceGrasping stability |
| spellingShingle | Xiangpeng Lei Shufeng Tang Wei Liang Zirui Guo Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator Jixie chuandong Under-actuated manipulator Finger mechanism Optimization design Contact force Grasping stability |
| title | Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator |
| title_full | Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator |
| title_fullStr | Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator |
| title_full_unstemmed | Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator |
| title_short | Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator |
| title_sort | optimization design and grasping stability analysis of under actuated multi finger manipulator |
| topic | Under-actuated manipulator Finger mechanism Optimization design Contact force Grasping stability |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.11.009 |
| work_keys_str_mv | AT xiangpenglei optimizationdesignandgraspingstabilityanalysisofunderactuatedmultifingermanipulator AT shufengtang optimizationdesignandgraspingstabilityanalysisofunderactuatedmultifingermanipulator AT weiliang optimizationdesignandgraspingstabilityanalysisofunderactuatedmultifingermanipulator AT ziruiguo optimizationdesignandgraspingstabilityanalysisofunderactuatedmultifingermanipulator |