典型文献
Development of Novel Hybrid Hand Formed by a Parallel Wrist and Three Soft-flexible Fingers
文献摘要：
A prototype of a novel hybrid hand is developed by combing a parallel wrist with three flexible fingers.Its dynamics model is established,its grabbed forces are measured,and its grabbing performances are analyzed.First,Jacobian and Hessian matrices of the moving platform in the parallel wrist are derived,the kinematics formulas for solving the general velocity and the general acceleration of the moving platform are derived.Second its dynamics model is established for solving the dynamic actuation forces,the dynamic constrained forces of the developed hybrid hand.Third,its simulation mechanism is constructed in Matlab,and the theoretical solutions of the kinematics and the dynamics of the developed hybrid hand are verified to be correct using its simulation mechanism.Finally,when objects with different mass are grabbed by prototype of hybrid hand in different poses,the grabbed forces are measured,and the grabbing performances are discovered and analyzed to verify its merits.
文献关键词：
中图分类号：
作者姓名：
Yi Lu;Zefeng Chang;Yang Lu
作者机构：
College of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;Harbin Electric Corporation(Qinhuangdao)Heavy Equipment Company Limited,Qinhuangdao 066004,China
文献出处：
引用格式：
[1]Yi Lu;Zefeng Chang;Yang Lu-.Development of Novel Hybrid Hand Formed by a Parallel Wrist and Three Soft-flexible Fingers)[J].仿生工程学报（英文版）,2022(05):1349-1358
A类：
Fingers,grabbed
B类：
Development,Novel,Hybrid,Hand,Formed,by,Parallel,Wrist,Three,Soft,flexible,prototype,novel,hybrid,hand,developed,combing,parallel,wrist,three,fingers,Its,dynamics,model,established,forces,are,measured,grabbing,performances,analyzed,First,Jacobian,Hessian,matrices,moving,platform,derived,kinematics,formulas,solving,general,velocity,acceleration,Second,actuation,constrained,Third,simulation,mechanism,constructed,Matlab,theoretical,solutions,verified,correct,using,Finally,when,objects,different,mass,poses,discovered,verify,merits
AB值：
0.486337
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