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期刊论文 1

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2006 1

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Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

《机械工程前沿(英文)》 2006年 第1卷 第1期   页码 33-39 doi: 10.1007/s11465-005-0015-6

摘要:

A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.

关键词: control     real-time control     superunderactuation     TH-2     personification    

标题 作者 时间 类型 操作

Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

期刊论文