Development of Novel Hybrid Hand Formed by a Parallel Wrist and Three Soft-flexible Fingers  

作　　者：Yi Lu Zefeng Chang Yang Lu 

机构地区：[1]College of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China [2]Harbin Electric Corporation(Qinhuangdao)Heavy Equipment Company Limited,Qinhuangdao 066004,China

出　　处：《Journal of Bionic Engineering》2022年第5期1349-1358,共10页仿生工程学报（英文版）

基　　金：This study was funded by MajorResearch Project of National Natural ScienceFoundationof China(Grant number 91748125);Natural Science Foundation of Hebei,China(Grant number E2020203010).

摘　　要：A prototype of a novel hybrid hand is developed by combing a parallel wrist with three flexible fingers.Its dynamics model is established,its grabbed forces are measured,and its grabbing performances are analyzed.First,Jacobian and Hessian matrices of the moving platform in the parallel wrist are derived,the kinematics formulas for solving the general velocity and the general acceleration of the moving platform are derived.Second its dynamics model is established for solving the dynamic actuation forces,the dynamic constrained forces of the developed hybrid hand.Third,its simulation mechanism is constructed in Matlab,and the theoretical solutions of the kinematics and the dynamics of the developed hybrid hand are verified to be correct using its simulation mechanism.Finally,when objects with different mass are grabbed by prototype of hybrid hand in different poses,the grabbed forces are measured,and the grabbing performances are discovered and analyzed to verify its merits.

关 键 词：Hybrid hand Flexible finger mechanism Dynamics Parallel wrist Grabbing performance 

分 类 号：Q81[生物学—生物工程]