The Stewart Hand: A Highly Dexterous, Six-Degrees-of-Freedom Manipulator Based on the Stewart-Gough Platform
The Stewart Hand: A Highly Dexterous, Six-Degrees-of-Freedom Manipulator Based on the Stewart-Gough Platform
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DOI：
10.1109/mra.2021.3064750
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发表时间：
2021-06
影响因子：
5.7
通讯作者：
Connor M. McCann;Vatsal V. Patel;A. Dollar
中科院分区：
文献类型：
--
作者：
Connor M. McCann;Vatsal V. Patel;A. Dollar
本文介绍了一种基于Stewart-Gough并联机器人的灵巧手的设计、建模、尺寸综合和实验表征。该机构由三个平行连杆手指和六个控制操作的棱柱致动器组成。一个额外的执行器保持稳定的抓取力。然后，利用预测手工作空间的计算模型来确定使工作空间大小和可操作性最大化的最佳设计参数。建立了一个基于优化参数的物理原型，并对其进行了实验表征，以评估其性能(图1)。
In this work, the design, modeling, dimensional synthesis, and experimental characterization of a dexterous robotic hand based on the Stewart-Gough parallel manipulator are presented. The mechanism consists of three parallel linkage fingers with six prismatic actuators that control manipulation. An additional actuator maintains stable grasping forces. A computational model to predict the hand's workspace is then utilized to determine the optimal design parameters that maximize the workspace size and manipulability. A physical prototype based on the optimized parameters is built and experimentally characterized to assess its performance (Figure 1).