|
Abstract: An
new type integrated humanoid finger is developed. The finger has two
main features: one is that the finger is actuated by using miniature
linear actuator and tendon for the integration of the mechanism with the
actuation system， another is that 2 DOF base joint is designed based on
differential mechanism and distal two joints are mechanically coupled.
The kinematics and dynamics of the finger are systematically
studied, which is basis of the optimal design and control for the
dextrous robot hand.
Key words: Humanoid
dextrous hand Dynamics Miniature linear actuator
CLC No: TP244
国家863高科技资助项目(863-512-9924-003). Received 30314, received in revised form
20031115
|