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Proceedings Paper

Optimize design dexterity of tooth-arrangement three-fingered hands
Author(s): Hai-ying Wang; Li-yong Zhang; Yong-de Zhang
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Paper Abstract

"Tooth-arrangement Three-fingered Hands" is a brand-new oral cavity repairing robot. It has the functions of fine grasping and arranging artificial tooth, manufacturing complete denture, etc. A new optimization design method is proposed in this paper that solves the problems in optimization structure parameter confirming and optimal dexterous design. The bionic theorem behind duplicating the dexterity of the human finger is incorporated into the structure parameter optimization algorithm. Through analyzing the dexterity of the single finger, adopting the design criteria of dexterous degree with optimum index and combining the characteristic of grasping the smallest object, this design method can confirm the best dexterity area for single finger, relations between every rod length and rotation range of every joint. Using MATLAB optimization toolbox to optimize above-mentioned structure parameter, it gains the optimal dimension that meets characteristic of human fingers and can finish grasping. A quantitative method is also proposed in this paper to calculate the relative position between fingers. It is applied to the real design of Tooth-Arrangement Three-fingered Hands and obtained optimal flexible performance.

Paper Details

Date Published: 2 May 2006
PDF: 4 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60422V (2 May 2006); doi: 10.1117/12.664678
Show Author Affiliations
Hai-ying Wang, Harbin Univ. of Science and Technology (China)
Li-yong Zhang, Harbin Univ. of Science and Technology (China)
Yong-de Zhang, Harbin Univ. of Science and Technology (China)

Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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