Development of a Rigid-Flexible Composite Three-Finger Dexterous Hand

Weidong Guo; Wenjie Lu; Yuanbo Liu; Demin Wei

doi:10.1007/978-981-16-7381-8_149

Development of a Rigid-Flexible Composite Three-Finger Dexterous Hand

Weidong Guo^*
, Wenjie Lu
, Yuanbo Liu
, Demin Wei

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper introduces the structure design of a rigid-flexible composite three-finger dexterous hand. It is based on flexible tendon drive and rigid link drive, combing the advantages of rigidity—large output force, high precision and flexibility—simple structure, safety, lightweight. In addition, it has a changeable palm which can increase the working space of this hand. After doing simulation analysis, we make a physical prototype and conduct a series of experiment. Afterwards, to address its problems that have been exposed, we optimize and improve, and then design the second-generation rigid-flexible composite three-finger dexterous hand with a more flexible palm.

Original language	English
Title of host publication	Advances in Mechanical Design - Proceedings of the 2021 International Conference on Mechanical Design, ICMD 2021
Editors	Jianrong Tan
Publisher	Springer Science and Business Media B.V.
Pages	2391-2419
Number of pages	29
ISBN (Print)	9789811673801
DOIs	https://doi.org/10.1007/978-981-16-7381-8_149
State	Published - 2022
Event	International Conference on Mechanical Design, ICMD 2021 - Changsha, China Duration: 11 Aug 2021 → 13 Aug 2021

Publication series

Name	Mechanisms and Machine Science
Volume	111
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	International Conference on Mechanical Design, ICMD 2021
Country/Territory	China
City	Changsha
Period	11/08/21 → 13/08/21

Keywords

Changeable palm
Dexterous hand
Rigid-flexible composite
Structure design

Access to Document

10.1007/978-981-16-7381-8_149

Cite this

Guo, W., Lu, W., Liu, Y., & Wei, D. (2022). Development of a Rigid-Flexible Composite Three-Finger Dexterous Hand. In J. Tan (Ed.), Advances in Mechanical Design - Proceedings of the 2021 International Conference on Mechanical Design, ICMD 2021 (pp. 2391-2419). (Mechanisms and Machine Science; Vol. 111). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-981-16-7381-8_149

@inproceedings{8ef124067a7a4a9e95ad4f24c4d1181d,

title = "Development of a Rigid-Flexible Composite Three-Finger Dexterous Hand",

abstract = "This paper introduces the structure design of a rigid-flexible composite three-finger dexterous hand. It is based on flexible tendon drive and rigid link drive, combing the advantages of rigidity—large output force, high precision and flexibility—simple structure, safety, lightweight. In addition, it has a changeable palm which can increase the working space of this hand. After doing simulation analysis, we make a physical prototype and conduct a series of experiment. Afterwards, to address its problems that have been exposed, we optimize and improve, and then design the second-generation rigid-flexible composite three-finger dexterous hand with a more flexible palm.",

keywords = "Changeable palm, Dexterous hand, Rigid-flexible composite, Structure design",

author = "Weidong Guo and Wenjie Lu and Yuanbo Liu and Demin Wei",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Mechanical Design, ICMD 2021 ; Conference date: 11-08-2021 Through 13-08-2021",

year = "2022",

doi = "10.1007/978-981-16-7381-8\_149",

language = "英语",

isbn = "9789811673801",

series = "Mechanisms and Machine Science",

publisher = "Springer Science and Business Media B.V.",

pages = "2391--2419",

editor = "Jianrong Tan",

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address = "荷兰",

}

Guo, W, Lu, W, Liu, Y & Wei, D 2022, Development of a Rigid-Flexible Composite Three-Finger Dexterous Hand. in J Tan (ed.), Advances in Mechanical Design - Proceedings of the 2021 International Conference on Mechanical Design, ICMD 2021. Mechanisms and Machine Science, vol. 111, Springer Science and Business Media B.V., pp. 2391-2419, International Conference on Mechanical Design, ICMD 2021, Changsha, China, 11/08/21. https://doi.org/10.1007/978-981-16-7381-8_149

Development of a Rigid-Flexible Composite Three-Finger Dexterous Hand. / Guo, Weidong; Lu, Wenjie; Liu, Yuanbo et al.
Advances in Mechanical Design - Proceedings of the 2021 International Conference on Mechanical Design, ICMD 2021. ed. / Jianrong Tan. Springer Science and Business Media B.V., 2022. p. 2391-2419 (Mechanisms and Machine Science; Vol. 111).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Guo, Weidong

AU - Lu, Wenjie

AU - Liu, Yuanbo

AU - Wei, Demin

PY - 2022

Y1 - 2022

N2 - This paper introduces the structure design of a rigid-flexible composite three-finger dexterous hand. It is based on flexible tendon drive and rigid link drive, combing the advantages of rigidity—large output force, high precision and flexibility—simple structure, safety, lightweight. In addition, it has a changeable palm which can increase the working space of this hand. After doing simulation analysis, we make a physical prototype and conduct a series of experiment. Afterwards, to address its problems that have been exposed, we optimize and improve, and then design the second-generation rigid-flexible composite three-finger dexterous hand with a more flexible palm.

AB - This paper introduces the structure design of a rigid-flexible composite three-finger dexterous hand. It is based on flexible tendon drive and rigid link drive, combing the advantages of rigidity—large output force, high precision and flexibility—simple structure, safety, lightweight. In addition, it has a changeable palm which can increase the working space of this hand. After doing simulation analysis, we make a physical prototype and conduct a series of experiment. Afterwards, to address its problems that have been exposed, we optimize and improve, and then design the second-generation rigid-flexible composite three-finger dexterous hand with a more flexible palm.

KW - Changeable palm

KW - Dexterous hand

KW - Rigid-flexible composite

KW - Structure design

UR - https://www.scopus.com/pages/publications/85127868313

U2 - 10.1007/978-981-16-7381-8_149

DO - 10.1007/978-981-16-7381-8_149

M3 - 会议稿件

AN - SCOPUS:85127868313

SN - 9789811673801

T3 - Mechanisms and Machine Science

SP - 2391

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BT - Advances in Mechanical Design - Proceedings of the 2021 International Conference on Mechanical Design, ICMD 2021

A2 - Tan, Jianrong

PB - Springer Science and Business Media B.V.

T2 - International Conference on Mechanical Design, ICMD 2021

Y2 - 11 August 2021 through 13 August 2021

ER -

Development of a Rigid-Flexible Composite Three-Finger Dexterous Hand

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