2A1-F04 複合遊星ギアを用いたロボットフィンガーの新機構(ロボットハンドの機構と把握戦略)

概要

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This paper presents a new mechanism for artificial fingers. It enables a rotation of adduction/abduction of the MP joint in addition to the flexion/extension of the DIP, PIP and MP joints. The key mechanism is the newly invented Double Planetary Gear System (DPGS) that allows three DOF motions of the finger in a compact placement of all actuators in a palm. The planetary gear system receives two input torques; one is an active torque coming from DC-motors, which activate solar gears, the other is a passive torque generating around the carrier of the planetary gears. This active/passive hybrid actuation enables a gripping with unknown shape object with no sensory feedback. This paper describes the kinematics and the kinetics of the newly developed mechanism followed by the kinetics of pinching the object by two-fingers. It also shows the results of a couple of experiments. Additionally, we show a new mechanical design aiming for constructing a multi-fingered hand.
一般社団法人日本機械学会の論文
2007-05-11