典型文献
Mechanical design,modeling,and identification for a novel antagonistic variable stiffness dexterous finger
文献摘要：
This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments,such as unstructured or man-made operational errors through comprehensive consideration of cost,accuracy,manufacturing,and application.Based on the concept of mechanical passive compliance,which is widely implemented in robots for interactions,a finger is dedicated to improving mechanical robustness.The finger mechanism not only achieves passive compliance against physical impacts,but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators.It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness.The mechanical design of the finger and its stiffness adjusting methods are elaborated.The stiffness characteristics of the finger joint and the actuation unit are analyzed.Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model.Fingers have been experimentally proven to be robust against physical impacts.Moreover,the experimental part verifies that fingers have good power,grasping,and manipulation performance.
文献关键词：
中图分类号：
作者姓名：
Handong HU;Yiwei LIU;Zongwu XIE;Jianfeng YAO;Hong LIU
作者机构：
State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China
文献出处：
引用格式：
[1]Handong HU;Yiwei LIU;Zongwu XIE;Jianfeng YAO;Hong LIU-.Mechanical design,modeling,and identification for a novel antagonistic variable stiffness dexterous finger)[J].机械工程前沿,2022(03):57-72
A类：
supererogatory,presets,Fingers
B类：
Mechanical,design,modeling,identification,novel,antagonistic,variable,stiffness,dexterous,This,study,traces,development,hand,research,proposes,mechanism,improve,safety,unpredictable,environments,such,unstructured,made,operational,errors,through,comprehensive,consideration,cost,accuracy,manufacturing,application,Based,concept,mechanical,passive,compliance,which,widely,implemented,robots,interactions,dedicated,improving,robustness,not,only,achieves,against,physical,impacts,but,also,implements,principle,compact,without,adding,actuators,It,adjustability,according,biologically,inspired,variation,discarding,some,mobilities,its,adjusting,methods,are,elaborated,characteristics,joint,actuation,unit,analyzed,Experimental,results,tests,under,different,provided,verify,validity,have,been,experimentally,proven,Moreover,part,verifies,that,fingers,good,power,grasping,manipulation,performance
AB值：
0.550972
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
