LI Jianfeng, ZHANG Yuru, ZHANG Qixian. DEXTERITY ANALYSIS ON MANIPULATING VELOCITIES OF FINGER MECHANISMS[J]. ROBOT, 1999, 21(2): 110-116.
Citation: LI Jianfeng, ZHANG Yuru, ZHANG Qixian. DEXTERITY ANALYSIS ON MANIPULATING VELOCITIES OF FINGER MECHANISMS[J]. ROBOT, 1999, 21(2): 110-116.

DEXTERITY ANALYSIS ON MANIPULATING VELOCITIES OF FINGER MECHANISMS

More Information
  • Received Date: November 25, 1997
  • Published Date: March 14, 1999
  • Based on a brief illustration of open end tendon transmission structures and their characteristic matrices, the concepts of velocity manipulability ellipsoids are introduced into tendon-driven finger mechanisms, and the condition for tendon-driven fingers to have isotropic velocity transformation characteristics is given. In terms of the mapping relationship between tendon velocity space and fingertip velocity space, and the kinematic coordinated equation established for the tendons of open-end transmission, the method to set up the velocity vector set of fingertip at any configuration of the finger is proposed. In order to evaluate the real velocity manipulating dexterity of the fingertip, a new quality measure is also presented, and examples are given to illustrate the analysis method of the manipulating dexterity of finger mechanisms.
  • 1 Morecki A, Busko Z. Synthesis and Control of the Anthropomorphic Two-Handed Manipulator. Proc of 10th Int Symposium on Industrial Robots, 1980: 461~474
    2 Yoshikaw T. Manipulability of Robotic Mechanisms. Int J of Robotics and Research, 1985,4(2):3~9
    3 Klein C A, Blaho B E. Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators. Int J of Robotics and Research, 1987,6(2)
    4 Angeles C, Rojas A A. Manipulator Inverse Kinematics via Condition Number Minimization and Condition. Proc of IEEE Conf On Robotics and Automation, 1987: 61~69
    5 Salisbury J, Craig J. Articulated Hands: Force Control and Kinematic Issues. Int J of Robotics and Research, 1982,1(1):4~17
    6 Li Z X, Sastry S. Task Orinted Optimal Grasping by Multi-fingered Robot Hand. Proc of IEEE Conf on Robotics and Automation, 1988: 589~596
    7 Mcaree P R, Samuel A E, Hunt K H. A Dexterity Measure for the Kinematic Control of a Multifinger, Multifreedom Robot Hand. Int J of Robotics and Research, 1991,10(5): 439~453
    8 Kircanski M V. Robotic Isotropy and Optimal Robot Design of Planar Manipulators. Proc of IEEE Conf on Robotics and Automation, 1994: 1100~1105
    9 Yeong-Jeong O, Lung-Wen T. Kinematic Synthesis of Tendon-Driven Manipulators with Isotropic Transmission Characteristics. ASME J of Mechanical Design, 1993,115: 884~891
    10 Lee J, Lung-Wen T. On the Structural of Tendon-driven Manipulators Having Pseudo-triangular Matrix. Int J of Robotics and Research, 1991,10(3): 255~262

Catalog

    Article views (50) PDF downloads (369) Cited by()
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return