Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2018-07-11T07:19:45Z | - |
dc.date.available | 2018-07-11T07:19:45Z | - |
dc.date.issued | 2017-10 | - |
dc.identifier.citation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 22, No. 5, Page. 2046-2057 | en_US |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.issn | 1941-014X | - |
dc.identifier.uri | https://ieeexplore.ieee.org/abstract/document/7968485/ | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/72508 | - |
dc.description.abstract | This paper presents an underactuated finger mechanism that is able to conduct both self-adaptive grasping and natural motions, such as flexion and extension. The robotic finger is realized with a three degrees-of-freedom mechanism composed of stackable four-bar linkages and contractible slider-cranks having a linear spring in each mechanism layer. Kinematics and static force analysis are performed to reveal the operation principle of the proposed finger mechanism. The procedure for synthesizing the linkages is also suggested using Freudenstein's equation. Finally, both simulations and experiments are conducted to confirm the design feasibility. | en_US |
dc.description.sponsorship | This work was supported by the Convergence Technology Development Program for Bionic Arm through the National Research Foundation of Korea funded by the Ministry of Science, ICT, and Future Planning, South Korea, under Grant NRF-2015M3C1B2052811. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | en_US |
dc.subject | Grasping | en_US |
dc.subject | robot kinematics | en_US |
dc.subject | underactuation | en_US |
dc.subject | ROBOT | en_US |
dc.subject | DESIGN | en_US |
dc.title | Underactuated Finger Mechanism Using Contractible Slider-Cranks and Stackable Four-Bar Linkages | en_US |
dc.type | Article | en_US |
dc.relation.no | 5 | - |
dc.relation.volume | 22 | - |
dc.identifier.doi | 10.1109/TMECH.2017.2723718 | - |
dc.relation.page | 2046-2057 | - |
dc.relation.journal | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.contributor.googleauthor | Yoon, Dukchan | - |
dc.contributor.googleauthor | Choi, Youngjin | - |
dc.relation.code | 2017002123 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | cyj | - |
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