DESIGN OF A NOVEL DEXTEROUS ROBOT HAND

查看全文 作　　者：[1]JiangLi;[1]LiuHong;[1]XieZongwu;[1]JinMinghe;[1]GaoXiaohui;[2]HirzingerG

机构地区：[1]RobotResearchInstitute,HarbinInstituteofTechnology,Harbin150001,China;[2]Instituteofroboticsandmechatronics,GermanAerospaceCenter,Wessling82230,Germany

出　　处：《Chinese Journal of Mechanical Engineering》索引2004年第17卷第3期,共4页

摘　　要：In the robotic community more and more hands are developed. Based on the experience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand with multisensory function and high integration is jointly developed. The prototype of the hand is successfully built. It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFs and 4 joints, the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. It also has an additional DOF to realize motion of the thumb relative to the palm. The fingertip force can reach up to 10 N. Full integration of mechanical body, actuation system, multisensory system and electronics is a significant feature. DSP based control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 2 lines. 关键词：机器人设计方案 DLR 扭矩传感器传动齿轮

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DESIGN OF A NOVEL DEXTEROUS ROBOT HAND

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