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Design of a Simulation System for Cross-Eye Dynamic Jamming Read chapter Read first chapter

2018 | OriginalPaper | Chapter

The Simulation of a Linkage Underactuated Finger on Grasping Performance

Authors : Licheng Wu, Tianyi Lan, Xiali Li

Published in: Proceedings of 2017 Chinese Intelligent Automation Conference

Publisher: Springer Singapore

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Abstract

For verifying the design rationality and properties of a Linkage Underactuated Finger, we use Solidworks to simulate the grasp operation of the finger with different situations, which can be used to analyze the range of grasping, the underactuated characteristic, the uniformity of motion and the mechanical property of the finger. The finger mechanism contains springs that gives adaptive grasp capability for different objects. The results show the curve of angle, moment and contact force. We can get the results that the finger can grasp the cylinders whose diameter can vary from 0.106 to 0.851 respecting to the finger length and can produce 5 times of hand grasping force by small electromotor. Through the simulations, the effectiveness and performance of the finger is analyzed and verified.

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Metadata
Title
The Simulation of a Linkage Underactuated Finger on Grasping Performance
Authors
Licheng Wu
Tianyi Lan
Xiali Li
Copyright Year
2018
Publisher
Springer Singapore
Book
Proceedings of 2017 Chinese Intelligent Automation Conference

Print ISBN: 978-981-10-6444-9

Electronic ISBN: 978-981-10-6445-6

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-981-10-6445-6_11