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Titolo:
Optimal design and development of a five-bar finger with redundant actuation
Autore:
Lee, JH; Yi, BJ; Oh, SR; Suh, IH;
Indirizzi:
Hanyang Univ, Sch Elect Engn & Comp Sci, Kyungki 425791, South Korea Hanyang Univ Kyungki South Korea 425791 Sci, Kyungki 425791, South Korea KIST, Intelligent Syst Control Res Ctr, Seoul, South Korea KIST Seoul South Korea lligent Syst Control Res Ctr, Seoul, South Korea
Titolo Testata:
MECHATRONICS
fascicolo: 1, volume: 11, anno: 2001,
pagine: 27 - 42
SICI:
0957-4158(200102)11:1<27:ODADOA>2.0.ZU;2-N
Fonte:
ISI
Lingua:
ENG
Soggetto:
MECHANISM; HAND;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
17
Recensione:
Indirizzi per estratti:
Indirizzo: Yi, BJ Hanyang Univ, Sch Elect Engn & Comp Sci, 1271 Sa 1 Dong, Kyungki 425791, South Korea Hanyang Univ 1271 Sa 1 Dong Kyungki South Korea 425791 South Korea
Citazione:
J.H. Lee et al., "Optimal design and development of a five-bar finger with redundant actuation", MECHATRONIC, 11(1), 2001, pp. 27-42

Abstract

In order to develop a human hand mechanism, a five-bar finger with redundant actuation is designed and implemented. Each joint of the finger is driven by a compact actuator mechanism having an ultrasonic motor and a gear setwith a potentiometer, and controlled by a VME bus-based control system. Optimal sets of actuator locations and link lengths for cases of a minimum actuator, one-, two-, and three-redundant actuators are obtained by employinga composite design index which simultaneously considers several performance indices, such as workspace, isotropic index, and force transmission ratio. According to the optimization result, several finger-configuration optimized for a special performance index are illustrated, and it is concluded that the case of one redundant actuator is the most effective in comparison to the cases of more redundant actuators, and that the case of two redundantactuators is the most effective in multi-fingered operation in which the force characteristic is relatively important, as compared to the kinematic isotropy and the workspace of the system. (C) 2000 Elsevier Science Ltd. Allrights reserved.

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Documento generato il 01/10/20 alle ore 16:01:59