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Zhang Wenzeng
Chen Qiang
Sun Zhenguo
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
Zhao Dongbin
Institute of Automation,
Chinese Academy of Sciences,
Beijing 100080, China |
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DESIGN OF
UNDER-ACTUATED HUM- ANOID ROBOT FINGER WITH SHAPE ADAPTATION*
Abstract: To obtain more DOFs by fewer actuators with lower control difficulty, under-actuated mechanical fingers are needed, so that a robot hand can grasp objects much better and is more similar to human hand. The design idea on under-actuated fingers is enlarged, and an experimental under-actuated finger mechanism is developed. As a finger of a robot hand or a part of a finger, this mechanism makes a robot hand has fewer drivers, but more DOFs. It can realize passive adaptive grasping objects of different shapes and sizes without any extra requirements of control precision. With the properties of small, light, but reliable, it is easy to produce. The main parameters for design are also described in detail.
Key words:
Humanoid robot finger Under-actuated mechanism Shape adaptation |