Abstract
This paper puts forward a new method in designing the robotic hand. The innovation of the design is to use the cross-axis flexural pivots as the joints of the finger. The paper first discusses the advantages of flexible joints compared to other joints in the design process of robotic hand. The normal flexible joints used in the robotic fingers are presented. After a brief discussion, a new approach which applies cross-axis flexural pivots in the robotic finger is raised. The pseudo-rigid-body model is established for the new design of robotic finger. Manipulator kinematics is also conducted in this paper.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 31st Chinese Control Conference, CCC 2012 |
| Pages | 5129-5134 |
| Number of pages | 6 |
| Publication status | Published - 1 Dec 2012 |
| Externally published | Yes |
| Event | 31st Chinese Control Conference, CCC 2012 - Hefei, China Duration: 25 Jul 2012 → 27 Jul 2012 |
Conference
| Conference | 31st Chinese Control Conference, CCC 2012 |
|---|---|
| Country/Territory | China |
| City | Hefei |
| Period | 25/07/12 → 27/07/12 |
Keywords
- cross-axis flexural pivots
- flexural hinge
- kinematics
- pseudo-rigid-body model
- robotic hand
ASJC Scopus subject areas
- Computer Science Applications
- Control and Systems Engineering
- Applied Mathematics
- Modelling and Simulation