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• W3204573671 abstract "Motion strategy analysis at the pre-bending stage is a fundamental component of underactuated finger grasp research. This study presents the pre-bending motion strategy and corresponding analysis of cable driving forces a 3-DOF underactuated finger comprising cable truss units. The structure and four motion strategies at the pre-bending stage are illustrated. The equivalent joint-driven and quasi-static motion models are established in the case where one or two cable driving forces drive the finger. Quasi-static motion model is established, and four typical quasi-static coupled motion space and distributions of corresponding cable driving forces are analysed. In accordance with the kinetic energy theorem and Lagrange’s dynamical method, a sampled and general dynamic model is established. Through matrix transformation, a hypothetical “PPA” type dynamic model is obtained. On the basis of the “PPA” dynamic model, three grasping control strategies at pre-bending stage are carried out. Valid simulations and experiments are conducted to verify the accuracy of the coupled bend inwards motion and control strategy." @default.
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• W3204573671 date "2021-01-01" @default.
• W3204573671 modified "2023-09-26" @default.
• W3204573671 title "Coupled Bending Inwards Motion and Control Strategy Analysis of a Cable-Driven Underactuated Finger" @default.
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• W3204573671 doi "https://doi.org/10.1109/access.2021.3116088" @default.
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