شماره ركورد كنفرانس :
3770
عنوان مقاله :
Design and Fabrication of a New Robot Finger
پديدآورندگان :
Samandizadeh P. Undergraduate Student, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran , Markazi A. H. D. markazi@iust.ac.ir Professor, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran; , Khanmirza E. Assistant Professor School of Mechanical Engineering Iran University of Science and Technology Tehran Iran , Karamali Ravandi A. Ph.D. student, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
كليدواژه :
Dexterous Robot Hands , Low Cost Humanoid Robotic Finger , Under , Actuated Joints , Flexible Tendons
عنوان كنفرانس :
چهارمين كنفرانس بين المللي دو سالانه مكانيك جامدات تجربي
چكيده فارسي :
Dexterous robotic hands are not very popular in production lines. Complexity in mechanism and operation makes such hands less appealing for conventional industrial applications. In this paper, a structurally simple robotic finger with 3 degrees of freedom, named Yasin is designed and fabricated. Compared to other similar designs, the new mechanism is less complicated to build and maintain, and is better suited for control purposes in low cost applications. Numbers of driving motors, which are located in the forearm, are just a few for better similarity with human hands, in terms of number of axles and their relative motions. On other hand, lengths of the tendons are not fixed for different movements. Instead the overall length of the cables used for induction of force from one finger to another is fixed. The general structure of the proposed mechanism is explained and elaborated.
