Analysis and optimization of underactuated finger for CMSysLab robotic hand
Апстракт
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.
Кључне речи:
robotic hand / underactuation / linkage / optimizationИзвор:
6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017, 2017, 1-10Издавач:
- Beograd : Srpsko društvo za mehaniku
Финансирање / пројекти:
- Одрживост и унапређење машинских система у енергетици и транспорту применом форензичког инжењерства, еко и робуст дизајна (RS-MESTD-Technological Development (TD or TR)-35006)
Колекције
Институција/група
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 .