On Mechanical Finger Design for Expanded Prescribed Grasping Poses
This work formulates and demonstrates a motion generation method for the synthesis of a multi-loop planar six-bar mechanism comparable to the Belgrade/USC robotic hand (13)(14). The method presented in this work can accommodate numbers of prescribed rigid-body poses beyond the maximum number of pose...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2008-09-01
|
| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/2/5/2_5_903/_pdf/-char/en |
| _version_ | 1811291823521398784 |
|---|---|
| author | Qiong SHEN Kevin RUSSELL Wen-Tzong LEE Raj S. SODHI |
| author_facet | Qiong SHEN Kevin RUSSELL Wen-Tzong LEE Raj S. SODHI |
| author_sort | Qiong SHEN |
| collection | DOAJ |
| description | This work formulates and demonstrates a motion generation method for the synthesis of a multi-loop planar six-bar mechanism comparable to the Belgrade/USC robotic hand (13)(14). The method presented in this work can accommodate numbers of prescribed rigid-body poses beyond the maximum number of poses allowable using conventional planar six-bar mechanism synthesis models (10). The example included demonstrates the design of a mechanical hand to achieve twice the maximum number of displacements allowable with conventional synthesis models. |
| first_indexed | 2024-04-13T04:35:55Z |
| format | Article |
| id | doaj.art-7e04e75829c7481ea3aded58a698d942 |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-04-13T04:35:55Z |
| publishDate | 2008-09-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-7e04e75829c7481ea3aded58a698d9422022-12-22T03:02:10ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542008-09-012590391410.1299/jamdsm.2.903jamdsmOn Mechanical Finger Design for Expanded Prescribed Grasping PosesQiong SHEN0Kevin RUSSELL1Wen-Tzong LEE2Raj S. SODHI3Department of Mechanical Engineering, Department of Electrical and Computer Engineering, New Jersey Institute of TechnologyArmaments Engineering and Technology Center, U.S. Army Research Development and Engineering CenterDepartment of Information Management, Leader UniversityDepartment of Mechanical Engineering, Department of Electrical and Computer Engineering, New Jersey Institute of TechnologyThis work formulates and demonstrates a motion generation method for the synthesis of a multi-loop planar six-bar mechanism comparable to the Belgrade/USC robotic hand (13)(14). The method presented in this work can accommodate numbers of prescribed rigid-body poses beyond the maximum number of poses allowable using conventional planar six-bar mechanism synthesis models (10). The example included demonstrates the design of a mechanical hand to achieve twice the maximum number of displacements allowable with conventional synthesis models.https://www.jstage.jst.go.jp/article/jamdsm/2/5/2_5_903/_pdf/-char/enmotion generationplanar six-bar mechanismmechanical finger |
| spellingShingle | Qiong SHEN Kevin RUSSELL Wen-Tzong LEE Raj S. SODHI On Mechanical Finger Design for Expanded Prescribed Grasping Poses Journal of Advanced Mechanical Design, Systems, and Manufacturing motion generation planar six-bar mechanism mechanical finger |
| title | On Mechanical Finger Design for Expanded Prescribed Grasping Poses |
| title_full | On Mechanical Finger Design for Expanded Prescribed Grasping Poses |
| title_fullStr | On Mechanical Finger Design for Expanded Prescribed Grasping Poses |
| title_full_unstemmed | On Mechanical Finger Design for Expanded Prescribed Grasping Poses |
| title_short | On Mechanical Finger Design for Expanded Prescribed Grasping Poses |
| title_sort | on mechanical finger design for expanded prescribed grasping poses |
| topic | motion generation planar six-bar mechanism mechanical finger |
| url | https://www.jstage.jst.go.jp/article/jamdsm/2/5/2_5_903/_pdf/-char/en |
| work_keys_str_mv | AT qiongshen onmechanicalfingerdesignforexpandedprescribedgraspingposes AT kevinrussell onmechanicalfingerdesignforexpandedprescribedgraspingposes AT wentzonglee onmechanicalfingerdesignforexpandedprescribedgraspingposes AT rajssodhi onmechanicalfingerdesignforexpandedprescribedgraspingposes |