Safety Design analysis of a Robot Hand for Accurate Grasping Various Objects

정밀한 파지를 할 수 있는 로봇 손의 안정성 평가

Robots have begun to perform various tasks on replacing the human in the daily life such as cleaning, entertainments etc. In order to accomplish the effective performance of intricate and precise tasks, robot hand must have special capabilities, such as decision making in given condition, autonomy in unknown situation and stable manipulation of object. In this study, we addresses the development of a 3-fingered humanoid robot hand system. We execute static analysis, vibration analysis and flexible dynamics to reserve stability at the design. Grasp motion of the finger uses a linear actuator and gears. Motion can be distinguished into four parts depending on the grasping thin paper, sphere, and column. In each motion, we compare the displacement of the case to be rigid with the case to be flexible. As a result, manufactured and feasibility of the robot hand is validated through preliminary experiments.