Title :
A Robot Finger Design Using a Dual-Mode Twisting Mechanism to Achieve High-Speed Motion and Large Grasping Force
Author :
Shin, Young June ; Lee, Ho Ju ; Kim, Kyung-Soo ; Kim, Soohyun
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea
Abstract :
A dual-mode robot finger is proposed to achieve a high-speed motion and large grasping force with a single motor. The robot finger has two actuator modes, which consist of the speed mode and the force mode. Based on the geometric analysis of each mode, the main design parameters of the proposed robot finger are derived, and their effectiveness is verified by simulations. In addition, using experiments with a prototype of a robot finger, the validity of the proposed approach is demonstrated.
Keywords :
actuators; force control; geometry; manipulators; motion control; actuator modes; dual-mode robot linger; dual-mode twisting mechanism; force mode; geometric analysis; high-speed motion; large grasping force; robot finger design; single motor; speed mode; Actuators; Fingers; Grasping; Joints; Numerical simulation; Prototypes; Robot kinematics; Torque; Dual-mode robot finger; fast bending motion; grasping force; twisted string actuation;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2012.2206870
