MODELLING AND SIMULATION WITH MSC ADAMS OF A 5-FINGER AND 3-PHALANX / FINGER UNDER-ACTUATED MECHANICAL HAND

摘要

This paper studies the modelling and simulation with MSC ADAMS of a 5-fingered and 3- phalanx/finger under-actuated mechanical hand, designed by the author to work on industrial robots. Moreover, in order to increase grasping safety in the automated handling process, the author has fitted each finger with a locking sequence in the final phase of grasping. Thus, the mechanism of mechanical hand is considered to be a mechanical system and is treated like a set of rigid bodies connected by mechanical linkages and elastic elements. To model and simulate this mechanism with MSC ADAMS programme, the author covered the following stages: construction of the model, testing-simulation, validation, finishing, parameterization, and optimization