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와이어 기반의 적응형 로봇 핸드Tendon-driven Adaptive Robot Hand
- Other Titles
- Tendon-driven Adaptive Robot Hand
- Issue Date
- 2014
- Publisher
- 한국로봇학회
- Keywords
- Robot hand; Adaptive grasp; Under-actuated mechanism
- Citation
- 로봇학회 논문지, v.9, no.4, pp.258 - 263
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 9
- Number
- 4
- Start Page
- 258
- End Page
- 263
- ISSN
- 1975-6291
- Abstract
- An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructuredenvironments. In this study, we propose an AR-Hand based on a tendon-driven mechanism whichconsists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand basedon the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithmor sensor system. The fingers are driven by simple tendon structures with each finger capable ofadaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptivegrasping is verified by various grasping experiments involving objects with different shapes and sizes.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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