The HIT/DLR dexterous hand: work in progress

Author

Gao, X.H. ; Jin, M.H. ; Jiang, L. ; Xie, Z.W. ; He, P. ; Yang, L. ; Liu, Y.W. ; Wei, R. ; Cai, H.G. ; Liu, H. ; Butterfass, J. ; Grebenstein, M. ; Seitz, N. ; Hirzinger, G.

Author_Institution

Robot Res. Inst., Harbin Inst. of Technol., China

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3164

Abstract

This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on the technology of DLR Hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. The finger has three DOF and four joints, the last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog Hall sensors. DSP based control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 6 lines(4 lines power supply and 2 lines communication interface). The fingertip force can reach 10N.

Keywords

Hall effect transducers; brushless DC motors; dexterous manipulators; digital signal processing chips; electric actuators; peripheral interfaces; strain sensors; 3 DOF; DSP based control system; Hall sensors; PCI bus architecture; actuators; brushless DC motors; communication interface; dexterous robot hands; digital signal processing; mechanically coupled finger joints; peripheral component interconnect; robot fingertip force; serial communication; single fingered robot hand; Actuators; Brushless DC motors; Communication system control; Control systems; Couplings; Digital signal processing; Fingers; Manufacturing; Prototypes; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242077

Filename

1242077