A Robot Finger Design Using a Dual-Mode Twisting Mechanism to Achieve High-Speed Motion and Large Grasping Force
A Robot Finger Design Using a Dual-Mode Twisting Mechanism to Achieve High-Speed Motion and Large Grasping Force
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DOI：
10.1109/tro.2012.2206870
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发表时间：
2012-12
影响因子：
7.8
通讯作者：
Y. Shin;Ho Ju Lee;Kyung-Soo Kim;Soohyun Kim
中科院分区：
文献类型：
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作者：
Y. Shin;Ho Ju Lee;Kyung-Soo Kim;Soohyun Kim
提出了一种双模机器人手指，利用单电机实现高速运动和大抓取力。机器人手指有两种执行器模式，分别是速度模式和力模式。在对各模态进行几何分析的基础上，推导了机器人手指的主要设计参数，并通过仿真验证了其有效性。此外，通过机器人手指原型的实验，验证了该方法的有效性。
A dual-mode robot finger is proposed to achieve a high-speed motion and large grasping force with a single motor. The robot finger has two actuator modes, which consist of the speed mode and the force mode. Based on the geometric analysis of each mode, the main design parameters of the proposed robot finger are derived, and their effectiveness is verified by simulations. In addition, using experiments with a prototype of a robot finger, the validity of the proposed approach is demonstrated.