POWER GRASPING STABILITY AND ELASTICITY ADJUSTABILITY OF TENDON-DRIVEN FINGER HAND MECHANISM

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概要

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• Power grasp can hold an object much safer than precision grasp, e.g. pinching grasp, can do against disturbance forces applied to the grasped object. Nevertheless, it easily becomes unstable for impulsive disturbance forces and may drop or even crush the grasped object if the hand does not have suitable compliance. Now, it is known that a tendon-driven robotic mechanism can adjust the joint mechanical elasticity by controlling the extension (pulling) force of tendons. In this paper we investigate elasticity adjustable area with respect to the power grasped object with a tendon-driven robotic hand. After intorducing basic results about tendon-driven robotic machanisms, We formulate the elastic matrix with respect to an object grasped with a tendon-driven robotic hand. After this, we present the elasticity adjustable area numerically for a planar two finger robotic hand and show some experimental results.

• 一般社団法人日本機械学会の論文

著者

• KOBAYASHI Hiroaki

  Department of Computer and Mathematical Sciences, Graduate School of Information Sciences, Tohoku Un

• Kobayashi H

  Department Of Science And Technology Meiji Univ.

• Noborisaka Hirokazu

  Kanagawa Institute of Technology, High-Tech Research Center

• Noborisaka H

  Kanagawa Institute Of Technology High-tech Research Center

• Kobayashi Hiroaki

  Department Of Applied Chemistry School Of Engineering The University Of Tokyo

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