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Workspace and orientation analysis of a parallel structure for robotic fingers

Yao, Wei and Dai, Jian S. (2011) Workspace and orientation analysis of a parallel structure for robotic fingers. Journal of Advanced Mechanical Design, Systems, and Manufacturing, 5 (1). pp. 54-69.

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Abstract

This paper investigates the workspace and the orientation capability of robotic fingers with a five-bar linkage and its variance defined by the parameter of a base link. Associating with the kinematics model and the link parameter analysis of a general structure in the form of coincidence of two ground pivots, the workspace and the orientation mapping of the robotic finger are presented and singularity conditions under different link parameters are discussed. This is then extended to variant mechanisms with separate ground pivots forming a structure of a parallel mechanism for robotic fingers, leading to further singularity analysis and workspace discussion. The orientation capability is then depicted in the workspace of this variance. A robotic finger is design to show the industrial application of the Analysis.

Item type: Article
ID code: 40586
Keywords: robotic fingers , kinematics model, orientation mapping, Bioengineering
Subjects: Technology > Engineering (General). Civil engineering (General) > Bioengineering
Department: Faculty of Engineering > Bioengineering
Related URLs:
Depositing user: Pure Administrator
Date Deposited: 27 Jul 2012 12:03
Last modified: 31 May 2013 14:55
URI: http://strathprints.strath.ac.uk/id/eprint/40586

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