Welcome to Journal of Beijing Institute of Technology
Advance Search
Volume 28Issue 3
.
Turn off MathJax
Article Contents
Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2019> 28(3): 410-417
Wencheng Ni, Zhihong Jiang, Hui Li, Bo Wei, Bainan Zhang, Qiang Huang. Mechanical Design and Drive Control of a Novel Dexterous Hand for On-Orbit Servicing[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2019, 28(3): 410-417. doi: 10.15918/j.jbit1004-0579.17181
Citation: Wencheng Ni, Zhihong Jiang, Hui Li, Bo Wei, Bainan Zhang, Qiang Huang. Mechanical Design and Drive Control of a Novel Dexterous Hand for On-Orbit Servicing[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2019, 28(3): 410-417.doi:10.15918/j.jbit1004-0579.17181
shu

Mechanical Design and Drive Control of a Novel Dexterous Hand for On-Orbit Servicing

doi:10.15918/j.jbit1004-0579.17181
  • 1.

    School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

  • 2.

    China Academy of Space Technology, Beijing 100094, China

  • Received Date:2017-12-03
    Abstract
  • In order to meet the requirements of on-orbit servicing outside the cabin, a flexible, dexterous hand with easy grasping ability and strong loading capacity is designed. The dexterous hand is comprised of three fingers. Each finger is driven by a set of four linkages. Furthermore, two fingers have a set of axial rotational degrees of freedom. In order to achieve the position control and keep griping stability, the dexterous hand adopts a mechanism of hybrid force/position control. In the end, experimental results demonstrates that the on-orbit servicing dexterous hand has great adaptability and operational capability.
    • FullText(HTML)
  • loading
    • References (13)
  • [1]
    Shi Zuohu. The role of hand in the evolution of human intelligence[J]. Word Science, 2004(1):35-36. (in Chinese)
    [2]
    Liu Jianhua, Zhang Jingzhi. Design and realization of conveying manipulator in automatic production line experiment device[J]. China Educational Technique & Equipment, 2011(27):102-104. (in Chinese)
    [3]
    Du Zhijun. A survey of industrial robots in their application and development[J]. Mechanical Engineer, 2002(5):8-10. (in Chinese)
    [4]
    Flores-Abad A, Ma O, Pham K, et al. A review of space robotics technologies for on-orbit servicing[J]. Progress in Aerospace Sciences, 2014, 68(8):1-26.
    [5]
    Lovchik C S, Aldridge H A. Design of the NASA robonaut hand[C]//Proceedings of the ASME Dynamics & Control Division, 1999.
    [6]
    Huang H, Jiang L, Liu Y, et al. The mechanical design and experiments of HIT/DLR prosthetic hand[C]//Proceedings of IEEE International Conference on Robotics & Biomimetic, IEEE, 2007.
    [7]
    Fan Shaowei, Liu Yiwei, Jin Minghe, et al. Research on the mechanics of the HIT/DLR hand Ⅱ anthropomorphic five-finger dexterous hand[J]. Journal of Harbin Engineering University, 2009, 30(2):171-177. (in Chinese)
    [8]
    Mouri T, Kawasaki H, Yoshikawa K, et al. Anthropomorphic robot hand:Gifu hand Ⅲ[J]. ICCAS, 2002, 2001:212-213.
    [9]
    Narasimhan S, Siegel D, Hollerbach J, et al. Implementation of control methodologies on the computational architecture for the Utah/MIT hand[C]//Proceedings of IEEE International Conference on Robotics and Automation, 2003:1884-1889.
    [10]
    Li Tao, Luo Minzhou, Zhang Zhihua, et al. Design of a humanoid robot hand based on underactuated mechanism[J]. Mechatronics, 2010, 16(1):29-33. (in Chinese)
    [11]
    Lionel Birglen, Gosselin C M. On the force capability of underactuated fingers[C]//Proceedings of the 2003 IEEE International Conference on Robotics and Automation,Taipei, Taiwan, 2003:1139-1145.
    [12]
    Ceccarelli M, Rodriguez N E N, Carbone G. Design and tests of a three finger hand with 1-DOF articulated fingers[J]. Robotica, 2006, 24(24):183-196.
    [13]
    Li Tao. Research of a humanoid robot hand based on underactuated mechanism[D]. Hefei:University of Science and Technology of China,2009. (in Chinese)
    • Relative Articles
  • Supplements (0)
  • Cited By
  • 加载中

Catalog

    通讯作者:陈斌, bchen63@163.com
    • 1.

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views (492) PDF downloads(360) Cited by()
    Proportional views
    Related

    Address:5 Zhongguancun South Street, Haidian District, Beijing

    Tel:86-10-68914374

    Email:blgywb@bit.edu.cn

    Copy Right © Journal of Beijing Institute of Technology

    Supported by:Beijing Renhe Information Technology Co. Ltd

    /

      Return
      Return
        Baidu
        map