MODELLING AND SIMULATION WITH MSC ADAMS OF A 5-FINGER AND 3-PHALANX / FINGER UNDER-ACTUATED MECHANICAL HAND

Fiabilitate şi Durabilitate

关键词: Modelling;    simulation;    mechanical hand;    under-actuated finger;    proximal phalanx;    medial phalanx;   

DOI  :  

来源: DOAJ

【 摘 要 】

This paper studies the modelling and simulation with MSC ADAMS of a 5-fingered and 3-phalanx/finger under-actuated mechanical hand, designed by the author to work on industrial robots.Moreover, in order to increase grasping safety in the automated handling process, the author has fittedeach finger with a locking sequence in the final phase of grasping.Thus, the mechanism of mechanical hand is considered to be a mechanical system and is treated like aset of rigid bodies connected by mechanical linkages and elastic elements.To model and simulate this mechanism with MSC ADAMS programme, the author covered the following stages:construction of the model, testing-simulation, validation, finishing, parameterization, and optimization

【 授权许可】

Unknown