Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks

This paper presents the parameter optimization procedure for a new anthropomorphic finger mechanism in performing pinching and self-adaptive grasping operation. The mechanism is made based on the observation of human finger during grasping and pinching. It is constructed from seven bar linkages and...

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Main Authors:	Zainul Azlan, Norsinnira, Yamaura, Hiroshi
Format:	Article
Language:	English
Published:	Elsevier B.V. 2012
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/47731/ http://irep.iium.edu.my/47731/ http://irep.iium.edu.my/47731/ http://irep.iium.edu.my/47731/1/anthropomorphic_finger_with_6.pdf

id	iium-47731
recordtype	eprints
spelling	iium-477312016-03-16T08:05:59Z http://irep.iium.edu.my/47731/ Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks Zainul Azlan, Norsinnira Yamaura, Hiroshi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents the parameter optimization procedure for a new anthropomorphic finger mechanism in performing pinching and self-adaptive grasping operation. The mechanism is made based on the observation of human finger during grasping and pinching. It is constructed from seven bar linkages and its upper middle phalanx is incorporated with a curved guiding slot and lead screw mechanism to adjust the link's effective length in accomplishing these two tasks. The finger's geometrical parameters are optimized based on four design criteria, which are the anthropomorphic pinching kinematics and force; and grasping kinematics and force to enhance its performance. The numerical result obtained gives an improved parameter set compared to the initial guess. A prototype with small size and light weight actuators and sensors has been implemented based on the optimum solution to achieve a compact anthropomorphic design with grasping and pinching capabilities. Elsevier B.V. 2012 Article PeerReviewed application/pdf en http://irep.iium.edu.my/47731/1/anthropomorphic_finger_with_6.pdf Zainul Azlan, Norsinnira and Yamaura, Hiroshi (2012) Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks. Mechanism and Machine Theory , 49. pp. 52-66. ISSN 0094-114X http://www.sciencedirect.com/science/article/pii/S0094114X11002138 doi:10.1016/j.mechmachtheory.2011.11.005
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Yamaura, Hiroshi Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks
description	This paper presents the parameter optimization procedure for a new anthropomorphic finger mechanism in performing pinching and self-adaptive grasping operation. The mechanism is made based on the observation of human finger during grasping and pinching. It is constructed from seven bar linkages and its upper middle phalanx is incorporated with a curved guiding slot and lead screw mechanism to adjust the link's effective length in accomplishing these two tasks. The finger's geometrical parameters are optimized based on four design criteria, which are the anthropomorphic pinching kinematics and force; and grasping kinematics and force to enhance its performance. The numerical result obtained gives an improved parameter set compared to the initial guess. A prototype with small size and light weight actuators and sensors has been implemented based on the optimum solution to achieve a compact anthropomorphic design with grasping and pinching capabilities.
format	Article
author	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_facet	Zainul Azlan, Norsinnira Yamaura, Hiroshi
author_sort	Zainul Azlan, Norsinnira
title	Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks
title_short	Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks
title_full	Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks
title_fullStr	Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks
title_full_unstemmed	Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks
title_sort	anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks
publisher	Elsevier B.V.
publishDate	2012
url	http://irep.iium.edu.my/47731/ http://irep.iium.edu.my/47731/ http://irep.iium.edu.my/47731/ http://irep.iium.edu.my/47731/1/anthropomorphic_finger_with_6.pdf
first_indexed	2023-09-18T21:07:54Z
last_indexed	2023-09-18T21:07:54Z
_version_	1777411056298098688

Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks

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