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    Design and Evaluation of Three-Phalange Underactuated Adaptive LSDH Finger

    Source: Journal of Mechanical Design:;2025:;volume( 147 ):;issue: 007::page 73303-1
    Author:
    Ren, Mengfei
    ,
    Chen, Jinbao
    ,
    Wang, Chen
    DOI: 10.1115/1.4067454
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The design of the terminal operation tool of the in-orbit service of the space station faces the difficult problem of complicated operation in a small space. Anthropomorphic hand tools operation has long been a controversial topic, partly because of dexterity and adaptive capabilities. Here, we propose a novel underactuated hand named linkage spline dexterous hand (LSDH). The underactuated LSDH finger can adapt to irregular objects without requiring complicated parallel linkages. Furthermore, the grasping process of the finger is composed of two sequential steps: initial parallel pinching and indirect adaptive grasping. To delve into the intricacies of the grasping mechanism exhibited by the finger, kinematics, force analysis, and performance evaluation are performed. The contact force between the object and the middle phalange can reach 20 N, marking an advancement compared to the recent literature. To evaluate the performance of the LSDH finger, the dexterity and the workspace of the LSDH finger are analyzed. It only requires one motor to drive the movement of three phalanges to adapt to different shapes and different sizes (diameter 30 mm–60 mm). When the length of the proximal phalange and the proximal shaft rotation angle get the max value, the dexterity can reach the best effect. The dexterity of the finger is up to 0.9 after various size optimizations under the size limitation.
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      Design and Evaluation of Three-Phalange Underactuated Adaptive LSDH Finger

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/4305563
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    contributor authorRen, Mengfei
    contributor authorChen, Jinbao
    contributor authorWang, Chen
    date accessioned2025-04-21T10:08:00Z
    date available2025-04-21T10:08:00Z
    date copyright1/30/2025 12:00:00 AM
    date issued2025
    identifier issn1050-0472
    identifier othermd_147_7_073303.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4305563
    description abstractThe design of the terminal operation tool of the in-orbit service of the space station faces the difficult problem of complicated operation in a small space. Anthropomorphic hand tools operation has long been a controversial topic, partly because of dexterity and adaptive capabilities. Here, we propose a novel underactuated hand named linkage spline dexterous hand (LSDH). The underactuated LSDH finger can adapt to irregular objects without requiring complicated parallel linkages. Furthermore, the grasping process of the finger is composed of two sequential steps: initial parallel pinching and indirect adaptive grasping. To delve into the intricacies of the grasping mechanism exhibited by the finger, kinematics, force analysis, and performance evaluation are performed. The contact force between the object and the middle phalange can reach 20 N, marking an advancement compared to the recent literature. To evaluate the performance of the LSDH finger, the dexterity and the workspace of the LSDH finger are analyzed. It only requires one motor to drive the movement of three phalanges to adapt to different shapes and different sizes (diameter 30 mm–60 mm). When the length of the proximal phalange and the proximal shaft rotation angle get the max value, the dexterity can reach the best effect. The dexterity of the finger is up to 0.9 after various size optimizations under the size limitation.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleDesign and Evaluation of Three-Phalange Underactuated Adaptive LSDH Finger
    typeJournal Paper
    journal volume147
    journal issue7
    journal titleJournal of Mechanical Design
    identifier doi10.1115/1.4067454
    journal fristpage73303-1
    journal lastpage73303-16
    page16
    treeJournal of Mechanical Design:;2025:;volume( 147 ):;issue: 007
    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