封面图片
2022年, 第17卷 第3期
Cover Story (Handong HU, Yiwei LIU, Zongwu XIE, Jianfeng YAO, Hong LIU. Front. Mech. Eng., 2022, 17(3): 35)
Multi-fingered hand is an end-effector which can reproduce the movement of the operator’s hand to achieve object grasping and manipulation through the movement of multiple fingers. Actuators and structures of prevalent multi-fingered hands are rigid designed to achieve high accuracy. However, when a multi-fingered hand is exposed to unstructured environment, the impact energy from rapid physical collisions can damage the hardware system of the hand due to limitations in system bandwidth, such as sensing, control, and communication delays. In order to achieve both safety and accuracy of mechanical system based on the principle of passive compliance of mechanical system, this paper proposes an AVS-finger (antagonistic variable stiffness dexterous finger) mechanism, which achieves both passive submissiveness to physical impacts and the implementation of variable stiffness actuation principles in the finger of dexterous hand in very compact size without adding supernumerary actuators. The design, modeling, and stiffness adjusting operation methods have been elaborated. The finger has been experimentally proven to have excellent physical impact absorption capacity and good power, grasping and manipulation performances. Finally, the summary and future work is prospected, which leading this basic research to further optimal implementation of structure, lubrication, weight reduction, compactness, and the completing of a multi-fingered hand.[展开] ...
ISSN 2095-0233 (Print)
ISSN 2095-0241 (Online)
CN 11-5984/TH
Postal Subscription Code 80-975 Formerly Known as Frontiers of Mechanical Engineering in China 2018 Impact Factor: 0.989