Optimize Position to Place Joint of a Finger in the Slave Hand of a Novel Master-Slave System
Main Article Content
Abstract
Nowadays, the teleopration system in general, the master-slave (MS) hand in particular has been using popularly in many technology and manufacturing sectors. It easily and safely supports people in many risk and hard working jobs. Besides, in the medical field the MS system is also been using to tele-operate for the patients. In this paper, the mechanism design and the optimization for the index finger's joint position were discussed in a novel suggested MS hand system. The finger was driven by a servo motor through the nut-screw system and the four-bar mechanisms. The position, distances between joints of the finger were determined in advance by the avarage values of the adult people. The positon of rotational joints of the four-bar mechanisms was optimized in order to receive the minimum consumption power of the actuator. The simulation results shows that after optimizing the difference of power consumption between the maximum and minimum values is 6.27 times. And we found out the minimum position.
Keywords
Teleoperation, master-slave hand, optimization mechanism, four-bar mechanism
Article Details
References
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[2] M. Zoppi, W. Sieklicki, and R. Molfino, “Design of a microrobotic Wrist for Needle Laparoscopic Surgery,” ASME J. Mech. Des., 130(10), p. 102306, 2008.
[3] J. Li, G. Zhang, A. Müller, and S. Wang, “A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes,” ASME J. Mech. Des., 135(9), p. 091009, 2013.
[4] C.-H. Kuo, and J.S. Dai, “Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery,” ASME J. Med. Dev., 6(2), p. 021008, 2012.
[5] J.S. Dai, “Surgical Robotics and Its Development and Progress,” Robotica, 28(2), pp. 161–161, 2010.
[6] M. Verner, F. Xi, and C. Mechefskse, “Optimal Calibration of Parallel Kinematic Mechanisms,” ASME J. Mech. Des., 127(1), pp. 62–69, 2005.
[7] R. Safaric, R.M. Parkin, C.A Czarnecki, C. A., and Calkin, D. W., “Virtual Environment for Telerobotics,” Integr. Comput.-Aided Eng., 8(2), pp. 95–104. , 2001.
[8] Bi, Z. M., Lang, S. Y. T., Zhang, D., Orban, P. E., and Verner, M., 2006, “Integrated Design Toolbox for Tripod-Based Parallel Kinematic Machines,” ASME J. Mech. Des., 129(8), pp. 799–807.
[9] Bicchi, A., Caiti, A., Pallottino, L., and Tonietti, G., 2005, “Online Robotic Experiments for Tele-Education at the University of Pisa,” J. Rob. Syst., 22(4), pp. 217–230.
[10] Kihonge, J. N., Larochelle, P. M., and Vance, J. M., 2002, “Spatial Mechanism Design in Virtual Reality With Networking.” ASME J. Mech. Des., 124(3), pp. 435–440.
[11] Moosavian, S. A. A., Kalantari, A., Semsarilar, H., Aboosaeedan, E., and Mihankhah, E., 2009, “ResQuake: A Tele-Operative Rescue Robot,” ASME J. Mech. Des., 131(8), p. 081005.
[12] Springer, S. L., and Ferrier, N. J., 2002, “Design and Control of a Force-Reflecting Haptic Interface for Teleoperational Grasping.” ASME J. Mech. Des., 124(2), pp. 277–283.