Abstract:
This paper addresses the design of a robotic hand by proposing the integration of a palm, which can adapt its shape. This feature has been specifically proposed to enhanc...Show MoreMetadata
Abstract:
This paper addresses the design of a robotic hand by proposing the integration of a palm, which can adapt its shape. This feature has been specifically proposed to enhance the grasping adaptability for the envelope grasping of objects having different size and shape. The design process is proposed by addressing the kinematic analysis and synthesis of the proposed finger and palm mechanism to fit objects with maximum size ranging from 50 to 100 mm. A dynamic analysis is carried out as based on Lagrange formulation. A prototype is rapid prototyped and preliminarily tested in order to validate the feasibility and effectiveness of the proposed design.
Published in: 2020 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)
Date of Conference: 21-23 May 2020
Date Added to IEEE Xplore: 01 July 2020
ISBN Information:
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Robotic Hand ,
- Prototype ,
- Dynamic Analysis ,
- Design Process ,
- Lagrange Interpolation ,
- Degrees Of Freedom ,
- Actuator ,
- 3D Printing ,
- Irregular Shape ,
- Voltage Regulation ,
- Contact Force ,
- Arduino ,
- Control Architecture ,
- Human Hand ,
- Torque Values ,
- SolidWorks ,
- External Body ,
- Servo Motor ,
- Revolute Joints ,
- Objects Of Different Sizes ,
- Single Degree Of Freedom ,
- Wolfram Mathematica ,
- Actuator Torque ,
- Serial Communication ,
- 3D CAD Models ,
- Angular Position ,
- Simple Model ,
- Center Of Mass ,
- Total Kinetic Energy
- Author Keywords
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Robotic Hand ,
- Prototype ,
- Dynamic Analysis ,
- Design Process ,
- Lagrange Interpolation ,
- Degrees Of Freedom ,
- Actuator ,
- 3D Printing ,
- Irregular Shape ,
- Voltage Regulation ,
- Contact Force ,
- Arduino ,
- Control Architecture ,
- Human Hand ,
- Torque Values ,
- SolidWorks ,
- External Body ,
- Servo Motor ,
- Revolute Joints ,
- Objects Of Different Sizes ,
- Single Degree Of Freedom ,
- Wolfram Mathematica ,
- Actuator Torque ,
- Serial Communication ,
- 3D CAD Models ,
- Angular Position ,
- Simple Model ,
- Center Of Mass ,
- Total Kinetic Energy
- Author Keywords
