A flexible self-recovery finger joint for a tendon-driven robot hand

被引：2

作者：

Oh, Dong Jun ^{[1
]}

Li, Zheng Yuan ^{[1
]}

Kim, Jae Hyeon ^{[1
]}

Choi, Hyouk Ryeol ^{[1
]}

Moon, Hyungpil ^{[1
]}

Koo, Ja Choon ^{[1
]}

机构：

[1] Sungkyunkwan Univ, Sch Mech Engn, Suwon 16419, South Korea

来源：

REVIEW OF SCIENTIFIC INSTRUMENTS | 2020年 / 91卷 / 11期

关键词：

SDM HAND; DESIGN; GRIPPER;

D O I：

10.1063/5.0020137

中图分类号：

TH7 [仪器、仪表];

学科分类号：

0804 ; 080401 ; 081102 ;

摘要：

This paper presents a new biomimetic soft finger joint with elastic ligaments for enhanced restoration capability. A hemisphere-shaped flexible finger joint is designed to secure omnidirectional restoration and guarantee a reliable recovery function. Joint design comparative studies for enhancing restoration are presented with joint mechanisms and potential energy formulation analyses. A ligament design that enables an efficient grasping mode switch from power to pinch grasping is also considered. By using the presented joint and ligament, a tendon-driven robot hand is assembled. For the finger's biomimetic features, the hand provides a reasonably secure grasping operation for various complicated objects with minimum controls. The impact test and grasping experiments confirmed that the fabricated hand has the right amount of passive compliance in all directions as designed, and the restoration to the original state is also stably performed.

引用

页数：11

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