High-Performance Anthropomorphic Robot Hand With Grasping-Force-Magnification Mechanism
High-Performance Anthropomorphic Robot Hand With Grasping-Force-Magnification Mechanism
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DOI：
10.1109/tmech.2010.2047866
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发表时间：
2011-06
期刊：
影响因子：
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通讯作者：
T. Takaki;T. Omata
中科院分区：
文献类型：
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作者：
T. Takaki;T. Omata
本文提出了一种轻量级（328克）拟人机器人手，可以施加大的抓地力。我们提出了一种机制，结合弯曲驱动器和力放大驱动器的电缆驱动的多指机器人手。由进给螺杆组成的弯曲驱动器可实现手指的快速运动，由偏心凸轮、轴承和滑轮组成的力放大驱动器可实现牢固的抓握。本文还提出了一个三维联动的拇指。该连杆机构由四个连杆组成，并由一个进给螺杆驱动。它可以抵抗由力放大驱动器施加的大的力。这些机构足够紧凑，可以安装在开发的轻量级手中。我们通过实验验证了手的最大指尖力超过20 N，拇指可以承受100 N的大力。使用屈曲驱动器完全闭合手部的时间为0.47 s。手指接触物体后，使用抓取放大驱动器实现牢固抓取的时间约为1秒。
This paper presents a lightweight (328 g) anthropomorphic robot hand that can exert a large grasping force. We propose a mechanism combining flexion drives and a force-magnification drive for a cable-driven multifingered robot hand. The flexion drive consisting of a feed screw enables quick finger motion, and the force-magnification drive, consisting of an eccentric cam, a bearing, and a pulley, enables a firm grasp. This paper also proposes a 3-D linkage for the thumb. This linkage consists of four links and is driven by a feed screw. It can oppose to a large force exerted by the force-magnification drive. These mechanisms are compact enough to be installed in the developed lightweight hand. We experimentally verify that the maximum fingertip force of the hand exceeds 20 N and that the thumb can hold a large force of 100 N. The time to fully close the hand using the flexion drives is 0.47 s. After the fingers make contact with an object, the time to achieve a firm grasp using the grasp-magnification drive is approximately 1 s.