Structural optimization design of single-degree-of-freedom dexterous finger
This paper puts forward a design idea of the single-degree-of-freedom joint finger,innovatively adopts the crank slider mechanism as the driving structure of the dexterous finger,uses the genetic algorithm to optimize the design size pa-rameters of the finger structure,and creates a virtual prototype in ADAMS to simulate the finger action effect.The most ideal finger pressing stroke and the best spring installation position are obtained.A physical finger is made to verify the accuracy and rationality of the design and simulation.This study has provided a new idea for studying the structure of robot finger and applying it to daily life service.
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