Robotic hand with a new bending mechanism

Author

Ishii, Chiharu ; Nishitani, Yosuke ; Hashimoto, Hiroshi

Author_Institution

Dept. of Eng. Sci. & Mech., Shibaura Inst. of Technol., Tokyo, Japan

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

32

Lastpage

36

Abstract

Recently, the development of a versatile robotic hand aiming at the application to an artificial arm or a humanoid robot is in demand. In this paper, omni-directional bending mechanism called "double-screw-drive mechanism" was applied to a robotic hand. The robotic hand with three fingers was built, and experiment was carried out, in which each fingertip was controlled so as to track the elliptical orbit. Then, the DSD robotic hand succeeded in rotating the cap of the PET bottle and removing the cap from the bottle.

Keywords

dexterous manipulators; humanoid robots; materials handling; motion control; DSD robotic hand; bottle cap removal; bottle cap rotation; double-screw-drive mechanism; humanoid robot; omnidirectional bending mechanism; three fingers; Couplings; Design engineering; Fasteners; Fingers; Humanoid robots; Humans; Joints; Orbital robotics; Robotics and automation; Service robots; Double-screw-drive mechanism; Elliptical orbit; Robotic hand;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246668

Filename

5246668