Super Under-Actuated Humanoid Robot Hand with Gear-Rack Mechanism

نویسندگان

  • Wenzeng Zhang
  • Min Qiu
  • Xiande Ma
  • Yuan Yao
  • Qiang Chen
چکیده

This paper proposed a design idea of a novel under-actuated finger mechanism, and analyzed its principle and designed the finger mechanism. The finger is designed based on a gear-rack mechanism, spring constraint and particular active middle-segment, which is passively adaptive in grasping objects. A new multi-fingered hand named as TH-3R Hand is designed based on the finger. TH-3R Hand has 5 fingers, 15 DOF. Its all fingers are similar. TH-3R Hand has many advantages: it is simple in structure, light in weight, easy in control and low in cost. TH-3R Hand can passively adapt different shapes and sizes of the grasped object. It can be mounted in humanoid robot hand to make the hand obtain more DOF with less actuators, and good grasping function of shape adaptation, decrease the requirement of control system.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Flexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot

This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...

متن کامل

Mechatronic Hand Design with Integrated Mechanism in Palm for Efficiency Improve of the Finger.

One of the most important case in humanoid robot designing is hand, which it consider as an country development. High percentage of robot work quality depend on hand capability. A robot function increase with hand movement. One of important movement in artificial hand capability relate to fingers lateral movement. This case has more effect intake of special objects such as round shape or moving...

متن کامل

A Dexterous and Self-adaptive Humanoid Robot Hand: Gesture-Changeable Under-Actuated Hand

A novel concept called gesture-changeable under-actuated (GCUA) function is proposed to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on the GCUA function, a new humanoid robot hand, GCUA Hand is designed and manufactured. The GCUA Hand can grasp different objects self-adaptively and change its initial gesture dexterous...

متن کامل

A Humanoid Robot Upper Limb System with Anthropomorphic Robot Hand: GCUA Hand II

Gesture-changeable under-actuated (GCUA) function is presented to make robot hand grasp objects dexterously and achieve humanoid manipulations with low dependence on control system. Based on GUCA function, GCUA Hand II is developed, which has 5 fingers and 14 DOFs. All the fingers use similar tendon mechanisms to achieve GCUA function which includes traditional under-actuated (UA) grasping moti...

متن کامل

GCUA Humanoid Robotic Hand with Tendon Mechanisms and Its Upper Limb

Upper limbs of human beings are extremely special and significant, which obtain crucial function to achieve manipulations intelligently and dexterously. Gesture-Changeable Under-Actuated (GCUA) grasping function is presented to improve the capability of robotic hands to achieve humanoid manipulations with low dependence on control and sensor feedback systems, which includes traditional under-ac...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2008