Human-sized anthropomorphic robot hand with detachable mechanism at the wrist
Human-sized anthropomorphic robot hand with detachable mechanism at the wrist
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DOI：
10.1016/j.mechmachtheory.2010.08.011
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发表时间：
2011-01-01
影响因子：
5.2
通讯作者：
Ogasawara, Tsukasa
中科院分区：
文献类型：
--
作者：
Kurita, Yuichi;Ono, Yasuhiro;Ogasawara, Tsukasa
在本文中，我们提出了一种人类大小的多指机器人手，手腕上有可拆卸的机构。手指是由钢丝驱动的肌腱，执行器嵌入在手臂部分。臂部的驱动力通过手腕上的齿轮机构传递到手部。齿轮机构使手部分和臂部分可拆分。该可拆卸机构能够单独维护手和手臂部分。为了避免肌腱驱动机构产生的关节相互干扰，实现了关节运动校正控制，将抵消运动的指令分配给执行器。修正系数可以根据机械构型来计算。研制的机器人手尺寸为200[mm](长)x 78[mm](宽)x 24.6[mm](厚)，可在指尖伸展10[N]。通过运动控制实验验证了所设计的机械手的性能。(C)2010爱思唯尔有限公司。保留所有权利。
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) x 78[mm](width) x 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. (C) 2010 Elsevier Ltd. All rights reserved.