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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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|
|Date:||1 March 2008|
|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)|
|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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