| Autor: |
Kohei ASAUMI, Kento HOSONUMA, Takahiro INOUE |
| Jazyk: |
japonština |
| Rok vydání: |
2022 |
| Předmět: |
|
| Zdroj: |
Nihon Kikai Gakkai ronbunshu, Vol 88, Iss 906, Pp 21-00033-21-00033 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
2187-9761 |
| DOI: |
10.1299/transjsme.21-00033 |
| Popis: |
This paper proposes a novel sensor-less force control method by an underactuated wire-driven robotic finger. This robotic hand contains Twisted round-belt actuator that yields contraction forces produced by twisting an elastic round-belt. This mechanism provides high-resolution control of both the force and joint angle in manipulation tasks. First, we explain the basic mechanism of the articulated two-fingered robotic hand having Twisted round-belt actuator, and mention its features by some experiments. Second, we show experimental results of round-belt contraction force on the basis of two parameters such as number of twist and tension of the belt, resulting in fingertip force estimation which is applicable to sensor-less force control. Finally, we apply this estimation method to the robotic hand, and experimentally demonstrate secure force control in sensor-less configuration at the fingertip. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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