@inproceedings{7de1c98930684c7f97ce4ae87c8e91d5,
title = "Research of the relation between configuration and skin-friction coefficient of an underactuated hand based on the maximum grasping space",
abstract = "In order to complete the grasping mission in space, a novel underactuated robotic hand which belongs to not only the tendon-pulley transmission but also the double-stage mechanisms, is proposed. The hand which has three joints is controlled by a single motor during the grasping process. Based on grasping model, the relation equation which reveals the relation among the driving force, the equivalent torques on joints, and the grasping forces is established by using vector mechanics and the principle of virtual work. Under the condition that the maximal grasping space is an envelope circle with the radius of 1250 mm, all the stable grasping configurations and the relation between the shortest lengths of finger and the skin-friction coefficient is analyzed.",
keywords = "Robotic hand, Stable grasp, Tendon-pulley transmission, Underactuated",
author = "Shangling Qiao and Hongwei Guo and Rongqiang Liu and Zongquan Deng",
note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd. 2017.; 4th IFToMM Asian Conference on Mechanism and Machine Science, ASIAN MMS 2016 and International Conference on Mechanism and Machine Science of China, CCMMS 2016 ; Conference date: 15-12-2016 Through 17-12-2016",
year = "2017",
doi = "10.1007/978-981-10-2875-5\_8",
language = "英语",
isbn = "9789811028748",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "89--100",
editor = "Xianmin Zhang and Yanjiang Huang and Nianfeng Wang",
booktitle = "Mechanism and Machine Science - Proceedings of ASIAN MMS 2016 and CCMMS 2016",
address = "德国",
}