DLR-Hand II Next Generation of a Dextrous Robot Hand
نویسندگان
چکیده
| this paper outlines the 2nd generation of multisensory hand design at DLR. The results of the use of DLR's Hand I were analyzed and enabled in addition to the big e orts made in grasping technology to design the next generation of dextrous robot hands. An open skeleton structure for better maintenance with semi shell housings and the new automatically recon gurable palm have been equipped with more powerful actuators to reach 30N on the ngertip. Newly designed sensors as the 6 DOF ngertip force torque sensor and integrated electronics together with the new communication architecture which enables a reduction of the cabling to the hand to only 12 lines outline the electronics concept. The Cartesian impedance control of all the ngers completes the new hand with its 13 DOF to what it is: the next step to autonomous and humanoid grasping
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