Background
Design of the OS Hand
Principle of artificial tentacle
Grasping process of artificial tentacle
Components of OS Hand
Analysis Methods
Kinematics analysis
Joint i |
α
i
|
l
i
|
d
i
|
θ
i
| Range of θ
i
/° |
---|---|---|---|---|---|
0 | 0 |
l
0
| 0 |
θ
0
| − 60 to 90 |
1 | 0 |
l
1
| 0 |
θ
1
| 0–90 |
2 | 0 |
l
2
| 0 |
θ
2
| 0–90 |
… | … | … | … | … | … |
6 | 0 |
l
6
| 0 |
θ
6
| 0–90 |
7 | 0 |
l
7
| 0 |
θ
7
| 0–90 |
-
\(\alpha_{i}\): angle of two adjacent joint axes.
-
\(l_{i}\): length of joint.
-
\(d_{i}\): distance between joints.
-
\(\theta_{i}\): angle of two adjacent joints.
Grasping force analysis
-
\(l_{i}\): the length of joint i, mm;
-
\(F_{i}\): the force at the contact point of joint i and object, N;
-
\(h_{i}\): the distance between the contact point of joint i and adjacent axes, mm;
-
\(M_{\text{o}}\): total output torque, Nm;
-
\(\theta_{i}\): angle of joint i and joint i − 1, °;
-
\(M_{i}\): the torque relative to the fixed point O which is caused by \(F_{i}\), Nm.