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Modeling and Analysis of an antagonistically driven robot hand

Chaudhari, Tushar (2008) Modeling and Analysis of an antagonistically driven robot hand. Master's. DLR-Interner Bericht. DLR-IB 515-2008/05.

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Abstract

In DLR, the third generation of an anthropomorphic hand is being developed. The present work focussed on the development of the kinematic and friction model of the finger. A forward kinematic model which deteremines the change in length of the tendons w.r.t to the joints of the finger is derived. Causes for friction in the finger are discussed. Friction models for the motor and the finger are investigated. Determination of motor parameters namely viscous and static friction using least square approximation methods is done. Experiments and simulation results are shown to support the estimated parameters.

Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Modeling and Analysis of an antagonistically driven robot hand
Authors:
AuthorsInstitution or Email of Authors
Chaudhari, TusharFH Aachen
Date:1 March 2008
Editors:
EditorsEmail
Chaudhari, TusharUNSPECIFIED
Status:Published
Keywords:anthropomorphic, hand, modeling, analysis, antagonistically, driven, robot
Department:Dep. Mechanical Engineering and Mechatronics
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Jessica Laskey
Deposited On:10 Oct 2008
Last Modified:27 Apr 2009 14:52

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