Optimize design dexterity of tooth-arrangement three-fingered hands

Hai-ying Wang; Li-yong Zhang; Yong-de Zhang

doi:10.1117/12.664678

2 May 2006 Optimize design dexterity of tooth-arrangement three-fingered hands

Hai-ying Wang, Li-yong Zhang, Yong-de Zhang

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60422V (2006) https://doi.org/10.1117/12.664678
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

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.

Citation Download Citation

Hai-ying Wang, Li-yong Zhang, and Yong-de Zhang "Optimize design dexterity of tooth-arrangement three-fingered hands", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60422V (2 May 2006); https://doi.org/10.1117/12.664678

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