A performance evaluation of BH-2 dextrous robotic hand

Author

Yang, Yang ; Zhang, Yuru ; Zhang, Qi Xian

Author_Institution

Robotics Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., China

Volume

1

fYear

1995

fDate

22-25 Oct 1995

Firstpage

922

Abstract

A new anthropomorphic dextrous robotic hand (BH-2) is presented in this paper. In order to demonstrate its capability of performing various tasks on a variety of objects, some quality measures for grasping in wrench space and manipulation in twist space, as well as the asymptotical stability of the grasping system are proposed. Using these measures, a performance evaluation on the BH-2 dextrous robotic hand has been conducted by comparing the hand with the Stanford hand when they respectively grasp a cylindrical object. The analysis results shows that the BH-2 hand has rather better manipulability and asymptotical stability than the Stanford hand

Keywords

asymptotic stability; manipulators; materials handling; performance evaluation; BH-2 dextrous robotic hand; anthropomorphic dextrous manipulator; asymptotical stability; grasping; manipulability; performance evaluation; twist space; wrench space; Asymptotic stability; Extraterrestrial measurements; Fingers; Grasping; Humans; Orbital robotics; Performance evaluation; Robots; Stability analysis; Thumb;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.537885

Filename

537885