Disposable Robotic Finger Driven Pneumatically by Flat Tubes and a Hollow Link Mechanism
Disposable Robotic Finger Driven Pneumatically by Flat Tubes and a Hollow Link Mechanism
复制标题
由扁平管和空心连杆机构气动驱动的一次性机器人手指
DOI：
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
N. Matsuhira
中科院分区：
文献类型：
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作者：
J. Tanaka;N. Matsuhira
我们提出了一个机器人手指与exoschion型结构，弯曲和延伸的变形力的扁管。我们的目标是实现一个一次性的机器人手抓取不卫生的物体。为了降低处理机器人手指的成本，将市售的线缆承载链用于外骨骼部件，并且通过对市售的管进行热处理来制备用于气动致动器的扁平管。该机器人手指的驱动关节由空心连杆机构和两个分别设置在空心连杆机构内部和关节边界处的扁管组成。建议的接头结构实现了平稳的驾驶性能和良好的承载能力。所开发的机器人手指重约85 g，当施加0.25 MPa的压力时产生约4 N的指尖力。由于所开发的机器人手指是螺旋驱动的，它符合物体的形状，并符合外力。该机制的验证表明，开发的机器人手指是有用的，因为它能够抓住六种类型的假设对象。
We propose a robotic finger with an exoskeleton-type structure that bends and extends by the deformation force of flat tubes. Our objective is to realize a disposable robot hand for gripping unsanitary objects. To reduce the cost of disposing of the robotic finger, a commercially available cable carrier chain was used for the exoskeleton component, and the flat tubes used in the pneumatic actuator were prepared by thermal processing of a commercially available tube. The driving joint of the robotic finger consists of a hollow link mechanism and two flat tubes, which are respectively arranged inside the hollow link mechanism and at the joint boundary. The proposed joint structure achieves both smooth drivability and good load-bearing capacity. The developed robotic finger weighs approximately 85 g and generates a fingertip force of approximately 4 N when a pressure of 0.25 MPa is applied. Because the developed robotic finger is pneumatically driven, it conforms to the object shape and is compliant to external force. Verification of the mechanism demonstrated that the developed robotic finger is useful because it was able to grasp six types of assumed objects.
APAM：对抗性气动人工肌肉
DOI：
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发表时间：
2018
期刊：
IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Usevitch, N. S.;Okamura, A. M.;Hawkes, E. W.
通讯作者：
Hawkes, E. W.
影响因子：
9.2
作者：
Eppner, Clemens;Deimel, Raphael;Brock, Oliver
通讯作者：
Brock, Oliver