Mechatronic design of innovative fingers for anthropomorphic robot hands
Mechatronic design of innovative fingers for anthropomorphic robot hands
复制标题
拟人机器人手创新手指的机电一体化设计
DOI：
10.1109/robot.2003.1242081
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
G. Vassura
中科院分区：
文献类型：
--
作者：
L. Biagiotti;F. Lotti;C. Melchiorri;G. Vassura
在本文中，提出了一种新的设计方法的发展机器人手。这种方法可以被认为是“经典”方法的替代方法，它考虑了柔性结构而不是刚性结构。在过去被认为是要机械消除的“缺陷”的顺应性效应可以反之被认为是期望的特征，并且可以被适当地控制，以便从机器人装置实现期望的特性。特别是对于机器人手来说，这是真实的，其中“经典”设计解决方案的机械复杂性总是源于复杂的结构，通常具有低可靠性和高成本。在本文中，另一种解决方案的灵巧机器人手的设计说明，考虑“机电一体化的方法”的机械结构，传感器和电子系统，控制和驱动部分的集成。此外，初步的实验活动的第一个原型的报告和讨论。考虑到可靠性、成本和开发时间，迄今为止所获得的结果非常令人鼓舞，并且可以预见灵巧手在机器人应用中的更广泛传播。
In this paper, a novel design approach for the development of robot hands is presented. This approach, that can be considered alternative to the "classical" one, takes into consideration compliant structures instead of rigid ones. Compliance effects, which were considered in the past as a "defect" to be mechanically eliminated, can be viceversa regarded as desired features and can be properly controlled in order to achieve desired properties from the robotic device. In particular, this is true for robot hands, where the mechanical complexity of "classical" design solutions has always originated complicated structures, often with low reliability and high costs. In this paper, an alternative solution to the design of dexterous robot hand is illustrated, considering a "mechatronic approach" for the integration of the mechanical structure, the sensory and electronic system, the control and the actuation part. Moreover, the preliminary experimental activity on a first prototype is reported and discussed. The results obtained so far, considering also reliability, costs and development time, are very encouraging, and allows to foresee a wider diffusion of dexterous hands for robotic applications.