This paper presents a novel optimization approach to development of a digit mechanism for a bio-inspired anthropomorphic industrial gripper, or a prosthetic device. The proposed approach is going to help to provide a ...
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ISBN:
(纸本)9781538681848
This paper presents a novel optimization approach to development of a digit mechanism for a bio-inspired anthropomorphic industrial gripper, or a prosthetic device. The proposed approach is going to help to provide a necessary trajectory of phalanges through calculation of links lengths of a robotic hand. In this paper the approach is applied to design of the prosthetic hand fingers, which are able to perform both types of the grasp: power and precision. The structure of the robotic hand finger is able to use different modes to actuate the finger: if the kinematic chain of the finger mechanism is closed it has only one degree of freedom and the trajectory is predictable, but if the kinematic chain is opened the finger will have two degrees of freedom, which allows to perform adaptive grasp. The paper is concerned with the proposed approach, fingers implementation, design of the prosthetic hand and its simulation.
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