| Autor: |
Xiangpeng Lei, Shufeng Tang, Wei Liang, Zirui Guo |
| Jazyk: |
čínština |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Jixie chuandong, Vol 44, Pp 53-58 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
1004-2539 |
| DOI: |
10.16578/j.issn.1004.2539.2020.11.009 |
| Popis: |
Aiming at the multi-mode grasping problem of the under-actuated manipulator， an under-actuated manipulator with detachable fingers and composite grasping function is proposed. In order to study the grasping performance of the under-actuated manipulator， a spring-adaptive three-knuckle finger mechanism and a double four-link three-knuckle finger mechanism are developed respectively. Both finger mechanisms use the motion principle of four-link mechanism. The nature of the finger greatly affects the grasp stability of the under-actuated manipulator. The properties of a single finger of an under-actuated manipulator are analyzed， and the influence of the position of the joint contact point and the contact force on the grasp stability is analyzed. A theoretical analysis method of the contact force and moment balance is proposed， and the factors affecting the grasping stability factor are discussed. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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