Analysis and optimization of underactuated finger for CMSysLab robotic hand
Apstrakt
In this paper is presented mathematical analysis of 3-DOF underactuated robotic finger with
linkage driven mechanism. The optimization procedure is described for obtaining optimal
parameters of four bar mechanism. As results, the adaptability of the finger is improved and the
grasping forces maximized within the working area limits.
Ključne reči:
robotic hand / underactuation / linkage / optimizationIzvor:
6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017, 2017, 1-10Izdavač:
- Beograd : Srpsko društvo za mehaniku
Finansiranje / projekti:
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Lukić, Miloš AU - Lazarević, Mihailo AU - Petrović, Petar PY - 2017 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4149 AB - In this paper is presented mathematical analysis of 3-DOF underactuated robotic finger with linkage driven mechanism. The optimization procedure is described for obtaining optimal parameters of four bar mechanism. As results, the adaptability of the finger is improved and the grasping forces maximized within the working area limits. PB - Beograd : Srpsko društvo za mehaniku C3 - 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017 T1 - Analysis and optimization of underactuated finger for CMSysLab robotic hand EP - 10 SP - 1 UR - https://hdl.handle.net/21.15107/rcub_machinery_4149 ER -
@conference{ author = "Lukić, Miloš and Lazarević, Mihailo and Petrović, Petar", year = "2017", abstract = "In this paper is presented mathematical analysis of 3-DOF underactuated robotic finger with linkage driven mechanism. The optimization procedure is described for obtaining optimal parameters of four bar mechanism. As results, the adaptability of the finger is improved and the grasping forces maximized within the working area limits.", publisher = "Beograd : Srpsko društvo za mehaniku", journal = "6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017", title = "Analysis and optimization of underactuated finger for CMSysLab robotic hand", pages = "10-1", url = "https://hdl.handle.net/21.15107/rcub_machinery_4149" }
Lukić, M., Lazarević, M.,& Petrović, P.. (2017). Analysis and optimization of underactuated finger for CMSysLab robotic hand. in 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017 Beograd : Srpsko društvo za mehaniku., 1-10. https://hdl.handle.net/21.15107/rcub_machinery_4149
Lukić M, Lazarević M, Petrović P. Analysis and optimization of underactuated finger for CMSysLab robotic hand. in 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017. 2017;:1-10. https://hdl.handle.net/21.15107/rcub_machinery_4149 .
Lukić, Miloš, Lazarević, Mihailo, Petrović, Petar, "Analysis and optimization of underactuated finger for CMSysLab robotic hand" in 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017 (2017):1-10, https://hdl.handle.net/21.15107/rcub_machinery_4149 .