| contributor author | Nacy, Somer M. | |
| contributor author | Tawfik, Mauwafak A. | |
| contributor author | Baqer, Ihsan A. | |
| date accessioned | 2017-05-09T01:10:52Z | |
| date available | 2017-05-09T01:10:52Z | |
| date issued | 2014 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_006_03_031009.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/155752 | |
| description abstract | This paper presents a novel design of a fingertip mechanism for detecting the slippage of the grasped object under two different types of dynamic load. This design is to be used with an underactuated triple finger artificial hand based on pulleystendon mechanism and the grasped object is designed in a prism shape with three DC motors with unbalance rotating mass to generate the excitation in the object, these motors are distributed symmetrically on the faces of the object. This prism shaped object is connected to a rope type pulling system to force the object to slip under quasistatic load condition. The mathematical modeling has been derived for the proposed design to generate the signal of contact force components ratio through using the conventional sensors signals with the aid of matlab–simulink software. The experimental results are discussed in comparison with the physical aspect of slippage phenomenon and they show good agreement with the physical definition of the slippage phenomenon. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Novel Fingertip Design for Slip Detection Under Dynamic Load Conditions | |
| type | Journal Paper | |
| journal volume | 6 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4027237 | |
| journal fristpage | 31009 | |
| journal lastpage | 31009 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2014:;volume( 006 ):;issue: 003 | |
| contenttype | Fulltext | |
