| 机器人柔性手手指机构的选型研究 |
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| 引用本文： | 钱瑞明 郑文伟. 机器人柔性手手指机构的选型研究[J]. 东南大学学报(自然科学版), 1990, 20(1): 9-14 |
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| 作者姓名： | 钱瑞明 郑文伟 |
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| 作者单位： | 东南大学机械工程系，东南大学机械工程系 |
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| 摘 要： |
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| 关 键 词： | 机器人 手 手指机构 柔性 |
Type Synthesis of Finger Mechanisms of Robot Dexterous Hand |
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| Qian Ruiming Zheng Wenwei. Type Synthesis of Finger Mechanisms of Robot Dexterous Hand[J]. Journal of Southeast University(Natural Science Edition), 1990, 20(1): 9-14 |
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| Authors: | Qian Ruiming Zheng Wenwei |
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| Affiliation: | Department of Mechanical Engineering |
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| Abstract: | After analysing the contact and the motion between fingertip and an object,this paper presents all the possible constructions with three or four revolute joints (3R or 4R) which can be used as finger mechanisms and are easy for power ttansfer.By comparison,a 3R and a 4R constructions easy to coutrol are adopted for fingers.The reachable workspaees of these two fingers with joint limits are discussed,and the conditions of maximizing the workspaees are put forward. |
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| Keywords: | robots hand fingers mechanism synthesis |
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