2A1-F04 指関節連動運動を備えた2指多自由度ロボットハンドによる物体姿勢非ヤコビ制御

概要

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This paper proposes a new two-fingered robotic hand that consists of a 3 degrees-of-freedom link structure for the index finger and a 2 degrees-of-freedom link structure for the thumb. The index finger is designed so that the distal two links move with maintaining their mechanically coupled movement, for which a rubber round belt is placed between two pulleys like a figure-eight structure. This system has four DC motors in each finger, and the two of the motors activate a finger joint antagonistically. By using the proposed robotic finger, we demonstrate that the orientation control of a grasped object can be achieved with using no Jacobian matrices and no grasping forces that had been required in conventional robotic applications.
一般社団法人日本機械学会の論文