Title :
Dynamic Analysis on Fingers of the Underwater Multi-fingered Robot Hand
Author :
Jia, Peng ; Meng, Qingxin ; Wang, Liquan
Author_Institution :
Harbin Eng. Univ., Harbin
Abstract :
The dynamics is very important for the simulation and feedback-control design of the underwater-multi-fingered robot hand. But the dynamic of underwater-multi-fingered robot hand with many degrees of freedom is much more complicated if hydrodynamic terms are precisely treated, so the finger dynamics of underwater multi-fingered robot hand are analysed in the paper, and the precise dynamics model is established considering the drag force and added-mass force. What´s more, dynamic simulation is carried out by SimMechanics. The simulation result shows: the hydrodynamics forces are the most significant in magnitude, and the dynamic motion control must consider these parameters.
Keywords :
control system analysis; dexterous manipulators; feedback; manipulator dynamics; marine systems; added-mass force; drag force; dynamic analysis; feedback-control design; hydrodynamic terms; underwater multi-fingered robot hand fingers; Design automation; Design engineering; Difference equations; Educational institutions; Fingers; Hydrodynamics; Mechatronics; Nonlinear dynamical systems; Robot kinematics; Robotics and automation; Dynamics modeling; Dynamics simulation; Underwater-multi-fingered robot hand;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303639
