八达通(软件)
欠驱动
计算机科学
机械手
空格(标点符号)
人工智能
计算机视觉
机器人
物理
量子力学
操作系统
作者
Guanglu Jia,Bing Li,Hailin Huang,Yanlin Wu,Qidi Cao
标识
DOI:10.1109/cbs.2017.8266065
摘要
In this paper, an underactuated biomimetic octopus hand with good adaptability to the shape and size of the grasping object in unknown environment is presented. Based on the grasping task, a quadpod parallel mechanism is introduced as the basic unit of octopus hand in order to make it more flexible. Mobility of the basic unit is calculated as lower-mobility parallel mechanism (PM) by using the screw theory, this basic unit has fewer than six degrees of freedom, which was also verified by the general Grubler-Kutzbach criterion. Two different grasping methods are compared and discussed. Kinematic data of the hand have been obtained from the robotic kinematic equations and three different actuated methods are compared and discussed. The analysis in this paper shows that each unit of the underactuated mechanism has the ability of deformation and can adapt to the irregular shape of non-cooperative objects.
科研通智能强力驱动
Strongly Powered by AbleSci AI