Development of Bio-mimetic Robot Hand Using Parallel Mechanisms
This paper describes a development of bio-mimetic robot hands and its control scheme. Each robot hand has four under-actuated fingers, which are driven by two linear actuators coupled. According to the study of the human hand, it is noted that coupled muscles (flexor and extensor muscle) generate the finger motion. Each fingertip can reach toward objects by curved surface workspace in 3D-space. The robot hand was designed considering the dexterity and the size suited for human tools and has tactile sensors equipped on the fingertips of each finger. The robot hand has 4 fingers with totally nine DOFs including two linear actuators and linkage knuckles. In the former part of this paper, the design of the robot hand is presented. And in the latter part of the paper, computational simulations are described. The simulations show the performance of the robot hand to manipulate tools of various shapes.
Seokwon Lee Samyeul Noh YongKwun Lee Jong Hyeon Park
Center for Cognitive Robotics Research,Korea Institute of Science and Technology (KIST) and with the Center for Cognitive Robotics Research,Korea Institute of Science and Technology (KIST),Seoul,Republ School of Mechanical Engineering,Hanyang University,Seoul,Republic of Korea
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
550-555
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）