1A1-B24 物体把持機能向上を目指した腱駆動機構の提案

概要

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This paper proposes a tendon-driven mechanism with a spring in order to improve a grasping stability of a robotic hand. The properties of the tendon drive system with a spring are investigated from the viewpoint of grasping stability in numerical simulations. For example transitions of a grasping force and a finger posture are examined when a grasping object is displaced by an external force. The grasping stability decreases, however the stability decrement of the tendon-driven mechanism becomes less than that of the conventional joint drive system, because the joint drive system allows a fingertip to rotate following to the external force. As a result, the fingertip tends to slip at grasping point. On the other hand, a fingertip of the tendon-driven mechanism rotates in the opposite direction in the same case. Besides the tendon-driven system mechanically and simultaneously responds to the disturbance without a time delay.
一般社団法人日本機械学会の論文