A parallel gripper with capability to use various tools
A parallel gripper with capability to use various tools
复制标题
能够使用各种工具的平行夹具
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
M. Yamano
中科院分区：
文献类型：
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作者：
T. Akaike;Y. Tsumaki;R. Tadakuma;M. Yamano
为了实现与人类手一样的多样性，人们开发了多种类型的多指手，具有多个执行器和复杂的机构。我们的研究重点是用简单的机制实现这种多样性。研制的机器人手可以使用人类日常生活中使用的各种平面工具。例如，剪刀、钳子和钳子……等等。在本文中，我们介绍了一种新的机构，每个指尖都有一个被动工作台，并通过演示验证了其处理各种工具的可行性。此外，我们还改进了它的控制系统，以确保执行类似于人类的技能的速度。文中还介绍了包括双机械手系统在内的整个系统。
Many kinds of multi-fingered hand with many actuators and complex mechanisms have been developed to achieve diversity like human hand. The main focus of our research is achieving such diversity with simple mechanisms. A developed robot hand can use various planar tools which human uses in daily life. For example, scissors, nipper and pliers ...etc. In this paper, we introduce a new mechanism with a passive table at each fingertip and show demonstrations to confirm its feasibility to handle various tools. Furthermore, we improve its control system to ensure speed to perform human-like skills. An overall system including a dual manipulator system is also introduced.