DocumentCode
3224095
Title
DLR-Hand II: next generation of a dextrous robot hand
Author
Butterfass, J. ; Grebenstein, M. ; Liu, H. ; Hirzinger, G.
Author_Institution
Inst. of Robotics & Mechatronics, German Aerosp. Res. Center, Wessling, Germany
Volume
1
fYear
2001
fDate
2001
Firstpage
109
Abstract
This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I we analysed. An open skeleton structure for better maintenance with semi-shell housing and the new automatically reconfigurable palm have been equipped with more powerful actuators to reach 30 N on the fingertip. The newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the hand to only 12 lines, are outlined. The Cartesian impedance control of all the fingers completes the new 13-DOF hand.
Keywords
dexterous manipulators; electric actuators; force control; manipulator kinematics; Cartesian impedance control; DLR-Hand II; dextrous manipulators; force torque sensor; kinematics; multisensory hand; reconfigurable palm; Actuators; Architecture; Communication cables; Communication system control; Force sensors; Impedance; Robotics and automation; Robots; Skeleton; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932538
Filename
932538
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