A Novel Lightweight Cable-Driven Integrated-Finger Robotic Hand for Dexterous Manipulation
A Novel Lightweight Cable-Driven Integrated-Finger Robotic Hand for Dexterous Manipulation
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DOI：
10.23919/acc53348.2022.9867656
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发表时间：
2022-06
期刊：
影响因子：
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通讯作者：
Xingsheng Wei;Kuiyuan Xu;Wansong Liu;Eric Mountain;Xiao Liang;Minghui Zheng
中科院分区：
文献类型：
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作者：
Xingsheng Wei;Kuiyuan Xu;Wansong Liu;Eric Mountain;Xiao Liang;Minghui Zheng
近年来，在智能制造等各种应用中，使用机器人手的需求急剧增加。目前的机械手通常是依靠众多部件的组装来实现功能的，这带来了不必要的自重和复杂的控制系统。这些缺点限制了机器人手的进一步应用。为了解决这个问题，本文提出了一种轻量级和低复杂度的五指机器人手称为集成手指机器人手（IFRH）。机器人手的每个手指都是基于称为弹性关节连接（EKC）的柔性关节构建的集成对象。3D打印手指设计最大限度地减少了组件的数量以及系统的重量。IFRH可以快速组装，易于维护，因为与传统的分离手指机器人手相比，其零件数量较少。IFRH由伺服电机驱动，伺服电机将运动传递到单丝钓线。这根钓鱼线连接到每个手指上，反映了真实的人手收缩时的抓握动作。通过力传感器的反馈，IFRH实现了高精度抓取日常物体的目标。IFRH可以由Arduino供电的电位器控制，进一步增加了机器人手的用户友好性。进行了大量的实验测试，以验证力传递系统的准确性，抓取能力和抓取精度。
In recent years, the demands of using robotic hands have been increased dramatically in a variety of applications such as intelligent manufacturing. The current robotic hands usually are functioned relying on the assembly of numerous components, which bring unnecessary dead weight and complex control systems. Such shortcomings limit the further application of robotic hands. To address this issue, this paper presents a lightweight and low-complexity five-fingered robotic hand called the Integrated Finger Robotic Hand (IFRH). Each finger of the robotic hand is built as an integrated object based on a compliant joint called the Elastic Knuckle Connection (EKC). The 3D-printed finger design minimizes the number of components as well as the weight of the system. The IFRH can be assembled quickly and maintained easily due to its low number of parts compared to traditional separate-finger robotic hands. The IFRH is driven by servo motors which transmit motion to a monofilament fishing string. This fishing string is connected to each finger, which mirrors the grasping motion of a real human hand when contracted. With feedback from force sensors, the IFRH accomplishes the goal of high precision grasping of daily objects. The IFRH can be controlled by a potentiometer powered by Arduino, further increasing the user-friendly nature of the robotic hand. A number of experimental tests are conducted to verify the accuracy of the force transmission system, the grasping capabilities, and the grasping precision.