Abstract
The characteristic features of underactuated finger are compact structure, large grasping force, and simple operation. It has a wide application prospect in the fields of industrial robot, humanoid robot, human artificial limb, and space robot. A new type of fully rotating joint linkage-based underactuated mechanism is proposed, and a new method based on the law of minimum resistance is presented to realize the equivalent mechanism at different contact conditions of the finger and the kinematical analysis based on the equivalent mechanism. The kinematic equations and the limit moving position of the mechanism are derived using the proposed method. Finally, the numerical simulation is carried out by MATLAB program. The correctness and effectiveness of the proposed method are verified. The simulation results show that the proposed mechanism has a large grasp space and can achieve good grasp trajectory.
Highlights
In robot hand design, there are various differences in performance indicators such as volume, weight, and flexibility
A new method based on the law of minimum resistance is presented to derive equivalent mechanisms, and kinematic problems were analyzed and solved based on the equivalent mechanisms
In order to realize the kinematic analysis of the complex mechanism, a new method based on the law of minimum resistance is presented, which can be used to derive the equivalent mechanisms in different stages and achieve the kinematic analysis
Summary
There are various differences in performance indicators such as volume, weight, and flexibility. This mechanism can make robot hand grasp objects with different shapes and sizes. Underactuated robot finger generally uses tendon driven, friction wheel, or linkage mechanism with elastic element. In order to realize underactuated finger which has compact structure and large holding force, the underactuated linkage mechanism must be adopted in design and manufacture. Shin et al.[12] proposed a humanoid robot hand, each finger has four links and three joints, and joints 2 and 3 are coupled by the four-bar linkage mechanism. Wu et al proposed an underactuated linkage finger mechanism,[14] which has compact structure, and it can realize large grasping force. A new fully rotational joint underactuated linkage finger mechanism is proposed in this article to overcome these disadvantages. The transmission mechanism consists of a lp[1]
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