Title :
Robotic finger mechanism with new anthropomorphic metacarpal joint
Author :
Ryew, S.M. ; Choi, H.R. ; Chung, W.K.
Author_Institution :
Sch. of Mech. Eng., Sung Kyun Kwan Univ., Suwon, South Korea
Abstract :
We present a robotic finger with a new 2 DOF anthropomorphic metacarpal(MCP) joint mechanism. This mechanism makes it possible to mimic the humanlike finger motions except those of the thumb such as flexion-extension and abduction-adduction. The metacarpal joint mechanism in the proposed robotic finger, called the double active universal joint, generates 2 DOF motion suppressing rolling by the coupled motions of two independent motors. Mechanism design and kinematics are mentioned and the results of basic experiments are reported to confirm the effectiveness of the proposed mechanism
Keywords :
dexterous manipulators; manipulator kinematics; matrix algebra; position control; 2 DOF motion; anthropomorphic metacarpal joint; double active universal joint; human-like finger motions; kinematics; mechanism design; robotic finger mechanism; rolling suppression; Actuators; Anthropomorphism; Fingers; Grasping; Humanoid robots; Humans; Kinematics; Mechanical engineering; Motion analysis; Thumb;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973186
