Design of an underactuated robot hand based on displacement-force conversion mechanism

Autor:	Hun Keon Ko, Kwon Hee Kim, Hyo Chan Kwon, Chang Hee Cho
Rok vydání:	2012
Předmět:	Engineering business.industry Mechanical Engineering Underactuated robots Work (physics) GRASP Industrial and Manufacturing Engineering Displacement (vector) Contact force Mechanism (engineering) Control theory Spring (device) Electrical and Electronic Engineering business Actuator
Zdroj:	International Journal of Precision Engineering and Manufacturing. 13:509-516
ISSN:	2005-4602 2234-7593
DOI:	10.1007/s12541-012-0066-7
Popis:	This work presents a study on the development of an underactuated robot hand. The hand consists of three fingers operated by a single actuator through a triangular joint that provides approximately equal grasp force and compliance among them. A displacement-force conversion mechanism with the spring and feed drive was developed to actuate the fingers. With this mechanism the grasp force can be controlled easily based on the rotary displacement of the actuator. A mathematical model of the contact force was presented and verified by measurement of the fingertip force. The grasp compliance was validated by tests with a variety of objects.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::b4e8b6b62df6da8e89c69e431d001f96 https://doi.org/10.1007/s12541-012-0066-7 Zobrazit plný text záznamu Full text from SpringerLink