|
Abstract: Compared with the traditional dexterous hands, which have
the great cubage, excessive DOFs and complicated controlling as well, a
sort of new-patterned mechanical hand (TH-1 hand) is designed. And the
introduction for the design thought, the analysis process of the
grasping power and micro-driver-control system are given. TH-1 hand’s
motors, reducers and their driver circuits are embedded completely into
its palm. This hand is designed as the human hand in many ways including
its appearance and size which have many characteristics, such as light,
few DOFs, easy to control, com-pact, strong adaptability. The
experiments show that TH-1 hand is applicable to the humanoid robot. It
can achieve stretching, making a fist and grasping an object steadily.
Key words: Robot technology Humanoid robot hand Power analysis
Driver circuit
CLC No: TP24
国家自然科学基金(50275083)和教育部教育振兴资助项目.
Received 20040822, received in revised form 20041208
|