Development of a Directly Self-adaptive Robot Hand with Pulley-belt Mechanism

被引：24
|
作者：
Li, Guoxuan [1 ]
Li, Bowen [1 ]
Sun, Jie [1 ]
Zhang, Wenzeng [1 ,2 ]
Sun, Zhenguo [1 ]
Chen, Qiang [1 ]
机构：
[1] Tsinghua Univ, Dept Mech Engn, Minist Educ, Key Lab Adv Mat Proc Technol, Beijing 100084, Peoples R China
[2] Northwestern Univ, Dept Mech Engn, Evanston, IL 60208 USA
来源：
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | 2013年 / 14卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Grasping stability; Multi-fingered robotic hand; Self-adaption; Under-actuation;
D O I：
10.1007/s12541-013-0184-x
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Directly self-adaptive under-actuated (DSUA) hands have great potential to stably grasp different objects in unstructured environments. This paper develops a DSUA Hand based on multi-pulley-belt mechanism, which consists of 5 fingers and has 14 DOE Self-adaptation is designed as the main function of it. The stability of DSUA hand's grasping process does not highly depend on control algorithm, sensors or control system. This DSUA fingers are based on multi-pulley-belt mechanism. A mathematical model of the 3-joint finger's contact force is given. Contact force analyses of the DSUA finger are discussed in detail. DSUA Hand weighs 0.94 kg and can grasp objects up to 0.6 kg. The grasping adaptation of DSUA hand is certified by grasping experiments of different objects.
引用
收藏
页码：1361 / 1368
页数：8
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