YaBeSH Engineering and Technology Library

    • Journals
    • PaperQuest
    • YSE Standards
    • YaBeSH
    • Login
    View Item 
    •   YE&T Library
    • ASME
    • Journal of Computational and Nonlinear Dynamics
    • View Item
    •   YE&T Library
    • ASME
    • Journal of Computational and Nonlinear Dynamics
    • View Item
    • All Fields
    • Source Title
    • Year
    • Publisher
    • Title
    • Subject
    • Author
    • DOI
    • ISBN
    Advanced Search
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Archive

    Numerical Analysis of the Grasp Configuration of a Planar 3 DOF Linkage Driven Underactuated Finger

    Source: Journal of Computational and Nonlinear Dynamics:;2013:;volume( 008 ):;issue: 002::page 21010
    Author:
    Khakpour, Hamed
    ,
    Birglen, Lionel
    DOI: 10.1115/1.4007359
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper proposes a novel method to investigate the grasp sequence of an underactuated (a.k.a. adaptive) finger with three degrees of freedom but only one actuator and find its final configuration. This method considers the magnitude and the sign of the torques generated on the phalanges of the finger through the contact points. By using these torques as indices, the algorithm calculates the values of the joint angles during the grasping sequence until the finger reaches its final configuration. To illustrate the effectiveness of this method a class of a 3DOF adaptive finger is chosen and analyzed and then, using the proposed methodology, its grasp configuration is calculated when grasping different fixed objects. Finally, simulations are repeated using a dynamic simulation package and the obtained results are compared to the proposed method. The results show that the method can properly estimate the final configuration of the grasp.
    • Download: (865.3Kb)
    • Show Full MetaData Hide Full MetaData
    • Get RIS
    • Item Order
    • Go To Publisher
    • Price: 5000 Rial
    • Statistics

      Numerical Analysis of the Grasp Configuration of a Planar 3 DOF Linkage Driven Underactuated Finger

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/151173
    Collections
    • Journal of Computational and Nonlinear Dynamics

    Show full item record

    contributor authorKhakpour, Hamed
    contributor authorBirglen, Lionel
    date accessioned2017-05-09T00:57:02Z
    date available2017-05-09T00:57:02Z
    date issued2013
    identifier issn1555-1415
    identifier othercnd_8_2_021010.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/151173
    description abstractThis paper proposes a novel method to investigate the grasp sequence of an underactuated (a.k.a. adaptive) finger with three degrees of freedom but only one actuator and find its final configuration. This method considers the magnitude and the sign of the torques generated on the phalanges of the finger through the contact points. By using these torques as indices, the algorithm calculates the values of the joint angles during the grasping sequence until the finger reaches its final configuration. To illustrate the effectiveness of this method a class of a 3DOF adaptive finger is chosen and analyzed and then, using the proposed methodology, its grasp configuration is calculated when grasping different fixed objects. Finally, simulations are repeated using a dynamic simulation package and the obtained results are compared to the proposed method. The results show that the method can properly estimate the final configuration of the grasp.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleNumerical Analysis of the Grasp Configuration of a Planar 3 DOF Linkage Driven Underactuated Finger
    typeJournal Paper
    journal volume8
    journal issue2
    journal titleJournal of Computational and Nonlinear Dynamics
    identifier doi10.1115/1.4007359
    journal fristpage21010
    journal lastpage21010
    identifier eissn1555-1423
    treeJournal of Computational and Nonlinear Dynamics:;2013:;volume( 008 ):;issue: 002
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian