Geometric Analysis and Characteristics of a Three-Fixed-Pivoted Multi-Phalanx Robotic Finger
Abstract This paper investigates the kinematic structure of robotic fingers, presents a linkage type of multi-phalanx (multi-joint) robotic fingers, and delivers geometric analysis. The new type of robotic fingers is driven by a three-pivoted linkage constituting a mechanism of two degrees of freedo...
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| Veröffentlicht in: | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2006-07, Vol.220 (7), p.1075-1082 |
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| container_title | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science |
| container_volume | 220 |
| creator | Luo, Z Dai, J S |
| description | Abstract
This paper investigates the kinematic structure of robotic fingers, presents a linkage type of multi-phalanx (multi-joint) robotic fingers, and delivers geometric analysis. The new type of robotic fingers is driven by a three-pivoted linkage constituting a mechanism of two degrees of freedom. On the basis of mechanism decomposition with decoupled kinematics, this paper produces the closed-form kinematic equations for modelling the linkage. Decoupling the linkage into a loop linkage and a function generator of a four-bar linkage, the linkage geometric property and workspace are explored and a stiffness map is produced.
The paper further develops the linkage Jacobian matrix and investigates the workspace characteristics. |
| doi_str_mv | 10.1243/09544062JMES209 |
| format | Article |
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This paper investigates the kinematic structure of robotic fingers, presents a linkage type of multi-phalanx (multi-joint) robotic fingers, and delivers geometric analysis. The new type of robotic fingers is driven by a three-pivoted linkage constituting a mechanism of two degrees of freedom. On the basis of mechanism decomposition with decoupled kinematics, this paper produces the closed-form kinematic equations for modelling the linkage. Decoupling the linkage into a loop linkage and a function generator of a four-bar linkage, the linkage geometric property and workspace are explored and a stiffness map is produced.
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This paper investigates the kinematic structure of robotic fingers, presents a linkage type of multi-phalanx (multi-joint) robotic fingers, and delivers geometric analysis. The new type of robotic fingers is driven by a three-pivoted linkage constituting a mechanism of two degrees of freedom. On the basis of mechanism decomposition with decoupled kinematics, this paper produces the closed-form kinematic equations for modelling the linkage. Decoupling the linkage into a loop linkage and a function generator of a four-bar linkage, the linkage geometric property and workspace are explored and a stiffness map is produced.
The paper further develops the linkage Jacobian matrix and investigates the workspace characteristics.</description><subject>Analysis</subject><subject>Decoupling</subject><subject>End effectors</subject><subject>Fingers</subject><subject>Function generators</subject><subject>Geometry</subject><subject>Jacobi matrix method</subject><subject>Jacobian matrix</subject><subject>Kinematic equations</subject><subject>Kinematics</subject><subject>Robotics</subject><subject>Robots</subject><subject>Stiffness</subject><issn>0954-4062</issn><issn>2041-2983</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2006</creationdate><recordtype>article</recordtype><sourceid>BENPR</sourceid><recordid>eNqF0UtLAzEQAOAgCtbH2WtQ8OTaPHazybEU64OK4uMmLONmto1sm5pspf57U-pBBHEuc5hvhmGGkCPOzrnIZZ-ZIs-ZEje3F4-CmS3SEyznmTBabpPeupqty7tkL8Y3lkKookdeLtHPsAuupoM5tJ_RRQpzS4dTCFB3GFzsXB2pbyjQp2lAzEZuhTa7dx--Q0tvl23nsvsptDBf0Qf_6pOnIzefYDggOw20EQ-_8z55Hl08Da-y8d3l9XAwzupc8S5TkjOmrBAMlQRQZQ6yYGBlw7GpoRFQSyOE0kXZcC0tz20JgKARFFir5T453cxdBP--xNhVMxdrbNNK6JexkgXXhebmXygMl1oXPMHjX_DNL0M6UDIyN6wohUjo5C_ETamZ4UKxpPobVQcfY8CmWgQ3g_BZcVatP1f9-lzqONt0RJjgj5l_8C80JJdF</recordid><startdate>20060701</startdate><enddate>20060701</enddate><creator>Luo, Z</creator><creator>Dai, J S</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>3V.</scope><scope>7XB</scope><scope>88I</scope><scope>8AF</scope><scope>8AO</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>L6V</scope><scope>M2P</scope><scope>M7S</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope></search><sort><creationdate>20060701</creationdate><title>Geometric Analysis and Characteristics of a Three-Fixed-Pivoted Multi-Phalanx Robotic Finger</title><author>Luo, Z ; Dai, J S</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c461t-631006d220e63aa674a350ad3f1efcaf2ac39226857f183d14d7aaea8ea6add83</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Analysis</topic><topic>Decoupling</topic><topic>End effectors</topic><topic>Fingers</topic><topic>Function generators</topic><topic>Geometry</topic><topic>Jacobi matrix method</topic><topic>Jacobian matrix</topic><topic>Kinematic equations</topic><topic>Kinematics</topic><topic>Robotics</topic><topic>Robots</topic><topic>Stiffness</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Luo, Z</creatorcontrib><creatorcontrib>Dai, J S</creatorcontrib><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Central (Corporate)</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Science Database (Alumni Edition)</collection><collection>STEM Database</collection><collection>ProQuest Pharma Collection</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central (Alumni) (purchase pre-March 2016)</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Engineering Collection</collection><collection>Science Database</collection><collection>Engineering Database</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>ProQuest Central Basic</collection><jtitle>Proceedings of the Institution of Mechanical Engineers. 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This paper investigates the kinematic structure of robotic fingers, presents a linkage type of multi-phalanx (multi-joint) robotic fingers, and delivers geometric analysis. The new type of robotic fingers is driven by a three-pivoted linkage constituting a mechanism of two degrees of freedom. On the basis of mechanism decomposition with decoupled kinematics, this paper produces the closed-form kinematic equations for modelling the linkage. Decoupling the linkage into a loop linkage and a function generator of a four-bar linkage, the linkage geometric property and workspace are explored and a stiffness map is produced.
The paper further develops the linkage Jacobian matrix and investigates the workspace characteristics.</abstract><cop>London, England</cop><pub>SAGE Publications</pub><doi>10.1243/09544062JMES209</doi><tpages>8</tpages></addata></record> |
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| identifier | ISSN: 0954-4062 |
| ispartof | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science, 2006-07, Vol.220 (7), p.1075-1082 |
| issn | 0954-4062 2041-2983 |
| language | eng |
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| source | SAGE Complete |
| subjects | Analysis Decoupling End effectors Fingers Function generators Geometry Jacobi matrix method Jacobian matrix Kinematic equations Kinematics Robotics Robots Stiffness |
| title | Geometric Analysis and Characteristics of a Three-Fixed-Pivoted Multi-Phalanx Robotic Finger |
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