Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger
Апстракт
When designing linkage driven underactuated
robotic finger, many parameters needs to be satisfied in order to
produce robust robotic hand capable of withstanding industrial
environment and capable of fulfilling all needs of robotic
assembly in terms of precision and dexterity. For this study,
four-bar linkage mechanisms are used to drive underactuated
robotic finger and design parameter that will be addressed is
transmission performance. Optimization method used for
obtaining length of links of four-bar mechanism, based on
transmission performance is shown. Freundenstein’s analytic
method for four-bar linkage function generation, is chosen, and
calculated link lengths are to be used for acquiring parameter
called transmission defect, parameter that is objective function
to be minimized in this optimization process. Maximizing
transmission performance, leads to increase of the transmitted
torque from the actuated joints to the underactuated joints
through... transmission mechanism. This paper presents design
and kinematic analysis of three degrees of freedom (3-DoF)
underactuated robotic finger with linkage driven mechanism for
CMSysLab robotic hand.
Кључне речи:
Robotic Assembly / Robotic Hand / Design / Transmission performance / Transmission defectИзвор:
7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2, 2020, ROI 1.2-Финансирање / пројекти:
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Matijašević, Lazar AU - Petrović, Petar PY - 2020 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6218 AB - When designing linkage driven underactuated robotic finger, many parameters needs to be satisfied in order to produce robust robotic hand capable of withstanding industrial environment and capable of fulfilling all needs of robotic assembly in terms of precision and dexterity. For this study, four-bar linkage mechanisms are used to drive underactuated robotic finger and design parameter that will be addressed is transmission performance. Optimization method used for obtaining length of links of four-bar mechanism, based on transmission performance is shown. Freundenstein’s analytic method for four-bar linkage function generation, is chosen, and calculated link lengths are to be used for acquiring parameter called transmission defect, parameter that is objective function to be minimized in this optimization process. Maximizing transmission performance, leads to increase of the transmitted torque from the actuated joints to the underactuated joints through transmission mechanism. This paper presents design and kinematic analysis of three degrees of freedom (3-DoF) underactuated robotic finger with linkage driven mechanism for CMSysLab robotic hand. C3 - 7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2 T1 - Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger SP - ROI 1.2 UR - https://hdl.handle.net/21.15107/rcub_machinery_6218 ER -
@conference{ author = "Matijašević, Lazar and Petrović, Petar", year = "2020", abstract = "When designing linkage driven underactuated robotic finger, many parameters needs to be satisfied in order to produce robust robotic hand capable of withstanding industrial environment and capable of fulfilling all needs of robotic assembly in terms of precision and dexterity. For this study, four-bar linkage mechanisms are used to drive underactuated robotic finger and design parameter that will be addressed is transmission performance. Optimization method used for obtaining length of links of four-bar mechanism, based on transmission performance is shown. Freundenstein’s analytic method for four-bar linkage function generation, is chosen, and calculated link lengths are to be used for acquiring parameter called transmission defect, parameter that is objective function to be minimized in this optimization process. Maximizing transmission performance, leads to increase of the transmitted torque from the actuated joints to the underactuated joints through transmission mechanism. This paper presents design and kinematic analysis of three degrees of freedom (3-DoF) underactuated robotic finger with linkage driven mechanism for CMSysLab robotic hand.", journal = "7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2", title = "Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger", pages = "ROI 1.2", url = "https://hdl.handle.net/21.15107/rcub_machinery_6218" }
Matijašević, L.,& Petrović, P.. (2020). Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger. in 7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2, ROI 1.2. https://hdl.handle.net/21.15107/rcub_machinery_6218
Matijašević L, Petrović P. Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger. in 7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2. 2020;:ROI 1.2. https://hdl.handle.net/21.15107/rcub_machinery_6218 .
Matijašević, Lazar, Petrović, Petar, "Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger" in 7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2 (2020):ROI 1.2, https://hdl.handle.net/21.15107/rcub_machinery_6218 .