제어로봇시스템학회:학술대회논문집
- 1993.10a
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- Pages.276-280
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- 1993
Design on the articulated robotic hand
다관절 로보트 손의 설계
Abstract
An articulated, multifinger mechanical hand can carry out grasping and manipulation operations on objects of different type and shape. In this paper the architecture of the mechanical hand is presented. Joints are driven by two antagonist tendons. Strain gauges are used to derive tendon tensions, and located in the palm of the hand. Angular defection of the joints is measured by Hall effect sensors attached to the joints. A multiprocessor-based architecture for controlling the hand is illustrated.
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