Dynamic Modeling and Analysis of Underactuated Prosthetic Hand

Liang Tang; Yi Zhang; Hua Deng

doi:10.4028/www.scientific.net/AMR.655-657.400

Paper Titles

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 655-657Dynamic Modeling and Analysis of Underactuated...

Dynamic Modeling and Analysis of Underactuated Prosthetic Hand

Abstract:

Based on the kinematic equation of index finger, the trajectory space of fingertip is analyzed, and the structural parameters of underactuated prosthetic hand have been optimized by ADAMS, which compare the trajectory space with the index-finger. Using the modeling methods of Lagrange dynamics equation, the dynamic model is established for the three-joint underactuated prosthetic finger, whose kinematic and dynamic characteristics also are analyzed. Finally, by the construction of the virtual prototype and its introduction into ADAMS for the dynamics simulation, the correctness of kinematics and dynamics model is verified by the dynamics simulation of virtual prototype.

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Periodical:

Advanced Materials Research (Volumes 655-657)

Pages:

400-407

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.655-657.400

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Online since:

January 2013

Authors:

Liang Tang, Yi Zhang, Hua Deng

Keywords:

Dynamic, Kinematic, Trajectory Space, Underactuated Finger

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