Titlebook: Underactuated Robotic Hands; Lionel Birglen,Thierry Laliberté,Clément Gosselin Book 2008 Springer-Verlag Berlin Heidelberg 2008 Intelligen

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negligence

領(lǐng)巾

1610-7438 ith the introduction of robotics in new applications involving unstructured environments (e.g. space, undersea, surgery), intelligent manipulation and grasping has become a crucial research area. The authors have developed an internationally recognized expertise in this area. Additionally, they desi

PALSY

unstable-angina

Introduction,smaller dimension than the output vector. Practically, in robotics, it means having fewer actuators than degrees of freedom (DOF). Applying this concept to robotic grasping arises from a simple fact: it is desirable to be able to grasp objects using a simple control rather than having to command and

可用

Binge-Drinking

Kinetostatic Analysis of Robotic Fingers,other hand, the rather intuitive design of functional prototypes. This chapter attempts to bridge this gap for the special case of underactuated fingers. Indeed, although the development of underactuated fingers aims at overcoming the theoretical difficulties of general manipulation issues and at ob

amplitude

Grasp Stability of Underactuated Fingers,r object. Then, another step in the grasping process will take place: the remaining phalanges—corresponding to positive forces—will slide on the surface of the object. This sliding process will continue until either a stable configuration is achieved (with only positive or zero phalanx forces) or jo

–scent

實現(xiàn)

Underactuation between the Fingers,a number of fingers comprised between two and five, while over 50% have three fingers. It is therefore a natural step to extend the principle of underactuation to the hand itself in addition to individual fingers. The purpose of the underactuation between the fingers is to use the power of one actua