Robot Finger Module With Multidirectional Adjustable Joint Stiffness
Robot Finger Module With Multidirectional Adjustable Joint Stiffness
复制标题
DOI：
10.1109/tmech.2010.2090895
复制
发表时间：
2012-02
期刊：
影响因子：
--
通讯作者：
S. Kajikawa;K. Abe
中科院分区：
文献类型：
--
作者：
S. Kajikawa;K. Abe
本文描述了一种新颖的手指机构，使机器人能够执行轻柔而灵巧的运动。该手指包含三个关节，其中近端（PIP）和远端指内（DIP）关节刚性耦合，掌指（MP）关节具有与人类一样可调节的多向被动顺应性。在 MP 关节中，两种硅橡胶垫（A-SRC 和 B-SRC）放置在电机驱动盘和输出连杆之间。 A-SRC起到三个作用：1）通过A-SRC表面与电机驱动盘之间的摩擦力将旋转运动从电机传递到输出连杆； 2）通过其弹性变形吸收多个方向的外力； 3)随着内部压力的变化感测外力的方向和大小。 B-SRC 通过将 A-SRC 压在电机驱动盘上来调整关节柔顺性特性。我们通过多次实验研究了该手指模块的基本性能。
This paper describes a novel finger mechanism that enables a robot to perform a gentle and dexterous motion. This finger contains three joints, in which the proximal (PIP) and distal intraphalangeal (DIP) joints are coupled rigidly, and the metacarpophalangeal (MP) joint has a multidirectional passive compliance that is adjustable as in humans. In the MP joint, two kinds of silicone-rubber cushions (A-SRC and B-SRC) are placed between a motor-driven disk and an output link. A-SRC plays three roles: 1) transmission of the rotational motion from the motor to the output link by the friction force between the surface of A-SRC and the motor-driven disk; 2) absorption of external forces from multiple directions by its elastic deformation; and 3) sensing the directions and magnitudes of external forces with the change in inside pressure. B-SRC adjusts the characteristics of joint compliance by pressing A-SRC against the motor-driven disk. We investigate the basic performance of this finger module through several experiments.