Development of an Underactuated Robotic Hand using Differential Gear Mechanism

Title
Development of an Underactuated Robotic Hand using Differential Gear Mechanism
Authors
천세영최우혁오상록오용환
Keywords
Underactuated; Robot Hand; Differential Gear Mechanism
Issue Date
2014-11
Publisher
URAI2014
Citation
, 328-334
Abstract
Underactuated robotic hands require a certain mechanism substituted for actuators. The role of this ingenious mechanism is distributing a system input to several system outputs. In other words, one input from an actuator is distributed to every joints of a finger by the mechanism with the consideration for the task and environment. A typical example is mechanical linkages with different link lengths. Besides, there are tendon drive, hydraulic device, and so on. In this paper, the differential driving module is introduced as an alternative to the absence of an actuator. In addition we also present the development of a self-adaptive hand for performing dexterous manipulation tasks with the differential driving module.
URI
http://pubs.kist.re.kr/handle/201004/49104
Appears in Collections:
KIST Publication > Conference Paper
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