EXTERNAL DISTURBANCES AND COUPLING MECHANISMS IN UNDERACTUATED HANDS
EXTERNAL DISTURBANCES AND COUPLING MECHANISMS IN UNDERACTUATED HANDS
复制标题
欠驱动手部的外部干扰和耦合机制
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
A. Dollar
中科院分区：
文献类型：
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作者：
Ravi Balasubramanian;Joseph T. Belter;A. Dollar
为了提高欠驱动机械手的抓取性能，研究了耦合机制对欠驱动机械手对外界干扰鲁棒性的影响.本文确定了独特的行为在手的响应作为耦合机制和驱动模式的手操作的功能。具体来说，我们表明，在条件下，当致动器的位置是固定的，单作用机制的手表现出双峰行为，相反，双作用机制，表现出单峰行为的手。然后，我们分析了这些行为如何影响手的抓取能力，并讨论了对欠驱动手设计和操作的影响。
With the goal of improving the performance of underactuated robotic hands in grasping, we investigate the influence of the underlying coupling mechanism on the robustness of underactuated hands to external disturbance. This paper identifies unique behaviors in the hand’s response as a function of the coupling mechanism and the actuation mode the hand is operated in. Specifically, we show that in conditions when the actuator position is fixed, hands with single-acting mechanisms exhibit a bimodal behavior in contrast to hands with double-acting mechanisms that exhibit a unimodal behavior. We then present an analysis of how these behaviors influence grasping capability of the hand and then discuss implications for underactuated hand design and operation.Copyright © 2010 by ASME