Design of Underactuated Passively Adaptive Finger Mechanism
Date Issued
2010
Date
2010
Author(s)
Hsu, Wen-Chieh
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 manipulator 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 analysis of a mechanism obtained from the synthesis is performed. 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
static analysis
optimum design
Type
thesis
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