Design and Analysis of Underactuated Humanoid Robotic Hand Based on Slip Block-Cam Mechanism
Compared with traditional dexterous humanoid robotic hands, underactuated robotic hands have the advantages of selfadaptive grasp and easy real-time control. In this paper, the development of a novel underactuated robotic hand is presented. This hand has five fingers and through using underactuation, the selfadaptability of each finger is achieved. This underactuated humanoid robotic hand can accomplish complicated selfadaptive grasp without high demand for real-time control system. In the first place, the design of a two degree-of-freedom underactuated finger is given. Then the parameters affecting the rotary angle and grasp force of the underactuated finger are analyzed and optimized. Finally, taking one finger as a module, the entire humanoid robotic hand is designed. This robotic hand is similar to human hand on appearance and size. It has many good merits such as good selfadaptability, compactness, easy real-time control, small volume and light weight.
Shengqi Tan Wenzeng Zhang Qiang Chen Dong Du
Key Laboratory for Advanced Materials Processing Technology,Ministry of Education,Dept.of Mechanical Engineering,Tsinghua University,Beijing 100084 P.R.China
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
2356-2361
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）