Development of powerful robotic hand using linear actuator for space robot operations

Author

Hasegawa, Kenji ; Ohkami, Yoshiaki ; Narita, Shinichiro ; Shirai, Takeki ; Hoshide, Kaom ; Ozawa, Koji ; Oda, Mitushige

Author_Institution

Sch. of Sci. for Open & Environ. Syst., Keio Univ., Kanagawa, Japan

fYear

2004

fDate

18-19 Nov. 2004

Firstpage

43

Lastpage

44

Abstract

With space development advanced, the robot technology is essential expected to support astronauts. Presently, Japan Aerospace Exploration Agency (JAXA) and Keio University is developing space robot, which can reconfigure and walk on space structures. During walking on space structures, the position and attitude of space robot must be stabilized, so powerful and compact hand is required. For this purpose a hand developed, which modularized is with four fingers, each of which has three joints, and two linear actuators. The mechanism based on the patent of THK Co. (# Pend. 2002-113681) is employed to reduce the actuators.

Keywords

attitude control; dexterous manipulators; mobile robots; optimisation; position control; stability; linear actuator; powerful robotic hand; space development; space robot operation; Communication system control; Costs; Fingers; Grasping; Hydraulic actuators; Legged locomotion; Orbital robotics; Robots; Shafts; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. TExCRA '04. First IEEE Technical Exhibition Based Conference on

Print_ISBN

0-7803-8564-0

Type

conf

DOI

10.1109/TEXCRA.2004.1424987

Filename

1424987