SBIR Phase II: A Resilient and Underactuated Robotic Hand Capable of Both Power and Precision Grasping

这个小型企业创新研究第二阶段项目提出了一种基于新型扭矩切换机制和专利微型电机控制器的机械手。该机构沿着不同的传动路径主动引导推动器扭矩，并允许对机械手中的两个手指关节进行独立和独立(时间离散)控制，以执行动力抓取和夹持。工业中对动态环境中的适应性和灵活性制造能力的需求日益增长。工业通常使用单轴夹持器和末端执行器，它们经过改装以在高度受控的环境中拾取特定物品。这需要更换多个定制的昂贵的夹爪和变色器。这个项目？S的目标是通过引入一种高度灵活、经济实惠、重量轻的机器人夹持器来改变材料搬运行业的模式，这种夹持器可以抓取和操纵不同大小、形状和硬度的物体。第二阶段的项目目标是设计和开发使用新型扭矩切换机构、优化电机、多反馈传感器和微型控制电子设备的三指夹爪原型，并在工业环境中测试和评估该原型夹爪。这项计划将产生一种紧凑、轻便、价格实惠的机械手，能够抓取和操纵各种物体。该项目的更广泛的影响/商业潜力解决了当今可用的夹爪设备的缺点，这些缺点阻碍了机器人系统的使用，从而削弱了制造业的生产率。拟议的解决方案通过在传统市场(如轻工制造)和新兴市场(如食品和饮料行业)更容易地采用机器人工作单元来提高制造业的竞争力。社会影响将在教育领域感受到，在教育领域，机器人被认为是儿童和年轻人进入技术领域的战略动力。Mostrobot太大了，太危险了，不能带进教室。拟议中的机器人手将非常便携，安全，对教育工作者和学生来说都是令人兴奋的。抓手灵巧度的显著提高将使其成为课堂和其他中学教育项目和研讨会中更具吸引力的激励因素。这项创新的一个潜在的二次应用是制造更灵活、更轻的假体，这可能会产生重大的社会影响。最后，在微型组件中通过不同路径传输扭矩，并允许使用单个小型执行器控制不同功能的能力使机器变得轻巧而多功能，并可能产生超出机器人领域的影响。

This Small Business Innovation Research Phase II project proposes a robotic hand based on a noveltorque-switching mechanism and patented miniature motor controllers. The mechanism actively channelsmotor torque along different transmission paths and enables dependant and independent (time-discreet)control of both finger joints in a robotic hand to perform both power and pinch grasps. There is a growingneed in industry for adaptable and flexible manufacturing capabilities in a dynamic environment. Industrygenerally uses single-axis grippers and end-effectors that are modified to pick up specific items in ahighly-controlled environment. This requires exchanging multiple customized and expensive grippers viatool-changers. This project?s goal is to produce a paradigm shift in the materials-handling industry byintroducing a highly flexible, affordable, and lightweight robotic gripper that can grasp and manipulateobjects of varying size, shape, and stiffness. The Phase-II project objectives are to design and develop aprototype 3-fingered gripper using a novel torque-switching mechanism, optimized motors, multiplefeedback sensors, and miniature control electronics, and to test and evaluate the prototype gripper in anindustrial setting. This program will result in a compact, lightweight, and affordable robotic hand capableof grasping and manipulating a large range of objects.The broader impact/commercial potential of this project addresses the shortcomings of gripper devicesavailable today which discourage the use of robotic systems, thereby undermining manufacturingproductivity. The proposed solution improves manufacturing competitiveness by enabling easier adoptionof robotic work cells in conventional markets such as light manufacturing and emerging markets such asthe food and beverage industry. The societal impact will be felt in the field of education where robotics isrecognized as a strategic motivator for children and young adults to enter into technical fields. Mostrobots are too large and dangerous to bring into a classroom. The proposed robotic hand will be veryportable, safe, and exciting for both educators and students. A significant increase in gripper dexterity will make it an even more attractive motivator in the classroom and other secondary educational programs andworkshops. A potential secondary application for this innovation is a more dexterous and lightweighthand prosthesis which could have a major societal impact. Finally, the ability to transmit torque throughdifferent paths in a miniature package and allow control of different functions with a single small actuatorenables lightweight yet versatile machines and could have impacts beyond the field of robotics.