| contributor author | Cheng, Ming | |
| contributor author | Fan, Shaowei | |
| contributor author | Yang, Dapeng | |
| contributor author | Jiang, Li | |
| date accessioned | 2022-02-04T22:11:31Z | |
| date available | 2022-02-04T22:11:31Z | |
| date copyright | 7/28/2020 12:00:00 AM | |
| date issued | 2020 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_12_6_061014.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4275064 | |
| description abstract | Elastic elements are commonly adopted to realize underactuation in the design of human-friendly prosthetic hands. The stiffness of these elastic elements, which is a key factor affecting the grasp performance of the underactuated finger, has not well addressed when considering both the stability and adaptability. In this study, an adaptive anthropomorphic finger that adopted a novel nine-bar mechanism is proposed. This nine-bar mechanism is integrated through a coupled four-bar mechanism and an adaptive seven-bar mechanism. The developed finger based on the nine-bar mechanism is able to improve the grasp stability in the global workspace under an extremely small spring stiffness. A quantitative analysis of the grasp stability was carried out. Comparative experiments on the grasps using the finger with/without adaptability were also performed. The results validated that our finger has a good stability when grasping the objects of different sizes. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism | |
| type | Journal Paper | |
| journal volume | 12 | |
| journal issue | 6 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4047730 | |
| journal fristpage | 065001-1 | |
| journal lastpage | 065001-9 | |
| page | 9 | |
| tree | Journal of Mechanisms and Robotics:;2020:;volume( 012 ):;issue: 006 | |
| contenttype | Fulltext | |
