Analysis on Finger Dynamics of Dexterous Underwater Hand Based on Strip Theory
WANG Hua1, MENG Qing-xin2, WANG Li-quan2
1. School of Mechanical and Power Engineering, Nanjing University of Technology, Nanjing 210009, China; 2. School of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
王华, 孟庆鑫, 王立权. 基于切片理论的水下灵巧手手指动力学分析[J]. 机器人, 2007, 29(2): 160-166..
WANG Hua, MENG Qing-xin, WANG Li-quan. Analysis on Finger Dynamics of Dexterous Underwater Hand Based on Strip Theory. ROBOT, 2007, 29(2): 160-166..
Abstract：The dynamics of underwater manipulator with many degrees of freedom is much more complicated if hydro-dynamic terms are precisely treated.The dynamics is important for the robot system simulation and feedback control design,so the finger dynamics of dexterous underwater hand is analyzed based on the strip theory,and the precise dynamics model is established considering the drag force and added-mass force.Dynamic simulation is carried out using SimMechanics.The results show that the hydrodynamic forces make the finger deflect from the required trajectory,and these parameters must be considered in the dynamic motion control.
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