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[학술저널]

사람 손의 파지원리를 모방한 높은 파지력을 갖는 로봇핸드의 설계 및 제어

  • 학술저널

사람 손의 파지원리를 모방한 높은 파지력을 갖는 로봇핸드의 설계 및 제어

A Biologically Inspired Dexterous Robot Hand with High Grip Force

이동혁(한국생산기술연구원) 권인구(한국생산기술연구원) 조정산(한국생산기술연구원)

DOI : 10.7736/KSPE.2019.36.5.455

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초록

This paper presents a robot hand inspired from grasp and grip mechanism of human hand. In human hand, grasp and grip are different terms: Human hand can grasp an object adaptively by individual pulling of each finger’s tendon. Once the fingers make contact with the object, the human hand can grip the object with a larger force by simultaneous pulling of the tendon of each finger. Inspired from this, we propose a mechanism decoupling flexion drive and force-magnification drive for a wire-driven robot hand. The flexion drive consists of electric motors pulling the wire of each finger to make adaptive movement of the robot hand (grasp). The force-magnification drive consist of a hydraulic cylinder that pulls the wire of each finger simultaneously (grip). We also propose adaptive grasp mechanism using spring linkage. It is possible to grasp the irregular objects of limited size without a complex control algorithm or sensor system. We experimentally verified that the grip force of the prototype robot hand exceeds 300N which is 10 times larger than the electric motor alone.

목차

1. 서론
2. 로봇핸드 메커니즘
3. 해석 및 제어 전략
4. 프로토타입 설계 및 검증
5. 결론
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