Design of Anthropomorphic Robot Hand with IMC joints

被引：0

作者：

Lee, Young Hun ^{[1
]}

You, Won Suk ^{[1
]}

Kang, Gitae ^{[1
]}

Oh, Hyun Seok ^{[1
]}

Choi, Hyouk Ryeol ^{[1
]}

机构：

[1] Sungkyunkwan Univ, Sch Mech Engn, Suwon, South Korea

来源：

2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2016年

关键词：

robot hand; inter-Metacarpal(IMC) joints; under-actuated joints;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a novel anthropomorphic robot hand with IMC joints. IMC joints are applied to robot hand to grasp various objects regardless of the size and get large overlapped workspace between thumb and other fingers, which allow all the fingertips to be located on a single spot in a wide range. Desinged IMC joints of robot hand are always rotated with 1: 1 ratio by mechanical constraint using passive tendon. Actuation module consists of miniature BLDC motor and ball-screw drives two IMC joints with a single motor. To evaluate the advantages of robot hand with IMC joints, grasping experiments are performed.

引用

页码：336 / 337

页数：2