Design of A New Underactuated Passively Adaptive Finger Mechanism
Date Issued
2012
Date
2012
Author(s)
Chuang, Ching-Wei
Abstract
With the rapid growth of robot application, a trend for robotic technology has been developed as manipulators with high mobility yet with less control complexity. To meet the need for such trend, design of underactuated passively adaptive finger mechanism has been proposed by some researches. This work analyzed the existing underactuated robotic mechanisms. The characteristics and the design requirement of such mechanisms are summarized. Mechanisms with three degrees of freedom are enumerated via mechanism synthesis method. The kinematic and static analyses of a mechanism are obtained from the synthesis. Subsequently, design optimization of the mechanism is discussed and conducted. Finally, a mock-up is built to test and validate the design.
Subjects
underactuated
passively adaptive
finger mechanism
mechanism synthesis
static analysis
optimum design
Type
thesis
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ntu-101-R99522609-1.pdf
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