Title :
A new type of parallel finger mechanism
Author :
Mu, Dejun ; Huang, Zhen
Author_Institution :
Robot. Res. Center, Yanshan Univ., Qinhuangdao
Abstract :
Based on the principle of parallel robot mechanism and bionics, a new type of three degree-of-freedom parallel finger mechanism is proposed. The basic unit of mechanism is parallelogram linkage. In the paper, the emphasis is laid on the study of the finger mechanism; the forward solution and inverse solution of the finger mechanism are obtained, an idea of parallel finger design is given. The analysis of the workspace simulation indicates that the finger mechanism can be used on robot hands, working flexibly like human being´s finger.
Keywords :
control system synthesis; manipulator kinematics; forward solution; human being finger; inverse solution; parallel finger design; parallel robot mechanism; parallelogram linkage; robot hands; three degree-of-freedom parallel finger mechanism; Analytical models; Biomimetics; Couplings; Fingers; Humanoid robots; Humans; Intelligent robots; Kinematics; Parallel robots; Service robots; design; finger; parallel; simulation;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522227
