A Robot Finger with Many Joints Driven by One Motor Using Shape Memory Gel and Tendon-Driven Mechanism
A Robot Finger with Many Joints Driven by One Motor Using Shape Memory Gel and Tendon-Driven Mechanism
复制标题
使用形状记忆凝胶和肌腱驱动机构的一个电机驱动的多关节机器人手指
DOI：
10.1109/icma52036.2021.9512604
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Riichiro Tadakuma
中科院分区：
文献类型：
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作者：
Mitsuhiro Yamano;Naoya Hanabata;Akira Okamoto;Toshihiko Yasuda;Yasutaka Nishioka;MD Nahin Islam Shiblee;Kazunari Yoshida;Hidemitsu Furukawa;Riichiro Tadakuma
由少量电机驱动的多关节机器人手指可用于低成本、轻重量和高性能的机器人手。我们提出了一个机器人手指与多个关节由一个电机驱动。利用形状记忆凝胶和肌腱驱动机制，手指可以选择多种运动。本文给出了手指单关节、双关节和多关节的转动情况。可旋转关节可从多种关节中选择。手指的滚动运动可以在多个关节沿同一方向旋转时完成。设计腱串的路线，使得可以减少所需马达的数量。新的机器人手指有一个骨架，而我们以前的手指没有骨架。文中还讨论了该骨架的优缺点。单指运动实验表明了其多种运动能力。我们也设计了一个原型机器人手使用三个手指，并显示了一些类型的物体的运动。
Robot fingers with many joints driven by a small number of motors are useful for low-cost, light and highperformance robot hands. We propose a robot finger with many joints driven by one motor. Many kinds of motion of the finger can be selected using shape memory gel and tendon-driven mechanism. The rotation of one joint, two joints and many joints of the finger are shown in this paper. Rotatable joint can be selected from many joints. The rolling motion of the finger can be done when many joints rotate in the same direction. The routes of the tendon strings are designed so that the number of required motors can be reduced. The new robot finger has a skeleton while our previous finger does not have a skeleton. The advantages and disadvantage of the skeleton are also discussed in this paper. Experiments of one finger shows its ability of various motion. We also design a prototype robot hand using three fingers and show the motion for some kinds of objects.