Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks

Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2012) Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks. Mechanism and Machine Theory , 49. pp. 52-66. ISSN 0094-114X

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Abstract

This paper presents the parameter optimization procedure for a new anthropomorphic finger mechanism in performing pinching and self-adaptive grasping operation. The mechanism is made based on the observation of human finger during grasping and pinching. It is constructed from seven bar linkages and its upper middle phalanx is incorporated with a curved guiding slot and lead screw mechanism to adjust the link's effective length in accomplishing these two tasks. The finger's geometrical parameters are optimized based on four design criteria, which are the anthropomorphic pinching kinematics and force; and grasping kinematics and force to enhance its performance. The numerical result obtained gives an improved parameter set compared to the initial guess. A prototype with small size and light weight actuators and sensors has been implemented based on the optimum solution to achieve a compact anthropomorphic design with grasping and pinching capabilities.

Item Type:	Article (Journal)
Additional Information:	4494/47731
Uncontrolled Keywords:	Robotic finger,Anthropomorphic design,Optimization,Grasping, Pinchin
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Norsinnira Zainul Azlan
Date Deposited:	16 Mar 2016 16:05
Last Modified:	16 Mar 2016 16:05
URI:	http://irep.iium.edu.my/id/eprint/47731

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