DocumentCode
2000670
Title
Optimal design of a five-bar finger with redundant actuation
Author
LEE, Jae Hoon ; Yi, Byung-Ju ; Oh, Sang-Rok ; Suh, II Hong
Author_Institution
Dept. of Control & Instrum. Eng., Hanyang Univ., Seoul, South Korea
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2068
Abstract
In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is suggested. Optimal sets of actuator locations and link lengths for the cases of minimum actuator, one, two and three redundant actuators are obtained by employing composite design index which simultaneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Finally, several finger-configurations optimized for special performance indices are illustrated
Keywords
actuators; control system synthesis; manipulator kinematics; optimisation; performance index; redundancy; actuator locations; five-bar finger; force transmission ratio; isotropic index; kinematic model; manipulators; optimisation; performance index; redundant actuation; workspace; Actuators; Arm; Fingers; Humans; Jacobian matrices; Joining processes; Joints; Kinematics; Robotic assembly; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680622
Filename
680622
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