Human-sized anthropomorphic robot hand with detachable mechanism at the wrist |
| |
Authors: | Yuichi Kurita Yasuhiro OnoAtsutoshi Ikeda Tsukasa Ogasawara |
| |
Affiliation: | Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5, Takayama, Ikoma, 630-0192 Nara, Japan |
| |
Abstract: | In this paper, we proposed a human-sized multi-fingered robot hand with detachable mechanism at the wrist. The fingers are tendon-driven by wires and the actuators are embedded in the arm part. The driving forces from the arm part are transmitted to the hand part by a gear mechanism at the wrist. The gear mechanism makes the hand part and the arm part splittable. The detachable mechanism enables separate maintenance of the hand and arm parts. To avoid undesired joint mutual interferences due to the tendon-driven mechanism, a joint motion correction control is implemented in that counteracting motions are ordered to actuators. The correction coefficient can be calculated based on the mechanical configuration. The developed robot hand has the size of 200[mm](length) × 78[mm](width) × 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the developed robot hand was shown by a motion control experiment. |
| |
Keywords: | Robot hand Tendon-driven mechanism |
本文献已被 ScienceDirect 等数据库收录! |