Analysis and Validation of a Dexterous Hand’s Kinematic Model Indirect-driven by Steel Wires

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Publication date
1 January 2010
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Abstract

本文对利用钢丝绳驱动的SIA-1多指灵巧手进行运动学建模,给出控制系统构建过程中所必须的绳长和各关节角度的关系,为后续的控制系统搭建做好准备,并比较和原设计的差别,以验证低成本简化的可行性,最后本文采用了一套运动捕捉系统,来验证整个运动学的正确性。 &nbsp

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    Shenyang Institute of Automation,Chinese Academy Of Sciences

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