Development of Bio-mimetic Robot Hand Using Parallel Mechanisms
- Development of Bio-mimetic Robot Hand Using Parallel Mechanisms
- 이석원; 노삼열; 이용권; 박종현
- Robot Hand; Bio-Mimetic; Link Mechanism; Linear Actuator
- Issue Date
- IEEE International Conference on Robotics and Biomimetics
- , 550-555
- 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.
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- KIST Publication > Conference Paper
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