A Versatile, Multiple Prehension, Compliance Controlled Robotic End-Effector

本研究将探讨一种新颖的机器人手， 橡胶手指，当其内部时弯曲以抓住物体 压力升高。 手指的弯曲完成了 通过在指状物中采用不均匀的壁厚， 弯曲机构由单个变量（ 内部压力）。 使用橡胶执行器（手指）大幅 减少了人工手指的控制变量的数量， 而不限制其可操作性。 一种新型机器人手， 应该能够抓住各种形状的物体， 尺寸，应用各种抓取模式，修改顺应性 和执行有限的对象操作。 的 研究将调查一种设计，使底角 每个指状件被独立地控制， 大大增强了对象的操作能力， 手 结合触觉传感来控制 还将研究接触力和夹持顺应性。

This research will investigate a novel robot hand which utilizes rubber fingers which bend to grasp an object when their internal pressure is elevated. The bending of the fingers is accomplished by employing non-uniform wall thickness in the fingers, and the bending mechanism is controlled by a single variable (the internal pressure). Using rubber actuators (fingers) drastically reduces the number of control variables of the artificial fingers without restricting its maneuverability. The novel robot hand should be capable of gripping objects of various shapes and sizes, applying various grasping modes, modifying the compliance of the grip, and performing limited object manipulations. The research will investigate a design to enable the base angle of each finger to be controlled independently which should significantly enhance the object manipulation capabilities of the hand. The incorporation of tactile sensing to control the contact forces and gripping compliance will also be investigated.