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

这个小企业创新研究第二阶段项目提出了一个基于新颖的扭矩切换机制和专利微型电机控制器的机器人手。该机制积极channelsmotor扭矩沿着不同的传输路径，并使依赖和独立（时间离散）控制的两个手指关节在机器人的手，以执行电力和捏抓。在动态环境中，工业对适应性和灵活性的制造能力的需求日益增长。工业上通常使用单轴抓手和末端执行器，这些抓手和末端执行器经过改装，可以在高度受控的环境中拾取特定物品。这需要交换多个定制的和昂贵的夹持器viatool-changer。这个项目？公司的目标是通过引入一种高度灵活、价格合理、重量轻的机器人夹持器来实现物料搬运行业的范式转变，这种夹持器可以抓取和操纵不同大小、形状和刚度的物体。第二阶段的项目目标是设计和开发一个原型3指爪使用一种新的扭矩切换机制，优化电机，multiplefeedback传感器，和微型控制电子设备，并测试和评估原型爪在一个工业环境。该计划将导致一个紧凑，重量轻，负担得起的机器人手capableof抓取和操纵大范围的objects.The更广泛的影响/商业潜力，该项目解决了缺点的抓持器devicesavailable今天，阻碍了机器人系统的使用，从而削弱了制造业的生产力。所提出的解决方案通过在传统市场（如轻工制造业）和新兴市场（如食品和饮料行业）更容易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，机器人技术被认为是儿童和年轻人进入技术领域的战略动力。Mostrobots是太大和危险的带进教室。拟议中的机器人手将是非常便携，安全，令人兴奋的教育工作者和学生。一个显着增加抓手灵巧性将使其成为一个更具吸引力的动机，在课堂上和其他中学教育计划和研讨会。这项创新的潜在二次应用是一种更灵巧、更轻便的假肢，可能会产生重大的社会影响。最后，通过微型封装中的不同路径传递扭矩的能力，以及允许用单个小型可致动器控制不同功能的能力，这些可驱动的轻型但多功能的机器，可能会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.