Kinematic Structures Description of Bionic Hand Based on VF Set

2016 2nd International Conference on Mechanical and Aeronautical Engineering (ICMAE 2016)

机械制造;航空航天工程

Liu, Xiancan^1 ; Bai, Pengying^1 ; Luo, Min^1 ; Gao, Meng^1 ; Zhan, Qiang^2

Beijing Institute of Mechanical Equipment, Yong Ding Road No.50, Hai Dian District, Beijing, China^1

Robotics Institute, BeiHang University, Beijing, China^2

关键词: Conventional structures;    Finger joints;    Geometric relationships;    Hand fingers;    Kinematic chain;    Kinematic pairs;    Kinematic structures;    Virtual fingers;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/187/1/012034/pdf
DOI  :  10.1088/1757-899X/187/1/012034

学科分类：航空航天科学

来源: IOP

【 摘 要 】

This paper presents a method for describing kinematic structure of bionic hand based on VF (virtual finger) set. At first, a 20 DOFs (degrees of freedom) human hand kinematic model is built, which is expressed by five fingers' kinematic chains consisting of kinematic pairs and symbols that represent geometric relationships of kinematic pairs' axes. Based on the concept of VF, the hand fingers are divided into two types: VFAAhaving adduction/abduction motion and VFFEhaving flexion/extension motion. The concept of VF set comprising VFAAs and VFFEs is defined, human hand and six basic grasp postures are described by VF set. Then, the structures corresponding VFAAand VFFEare given according to active and passive forms of finger joints, and VFFEStructure-Base comprising 20 conventional structures is built. Based on VF set and the structures of VFAAand VFFE, VF sets and kinematic structures of several classic bionic hands are given.