Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)
- Volume 16 Issue 4
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- Pages.141-145
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- 2013
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- 1226-833X(pISSN)
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- 2765-5415(eISSN)
DOI QR Code
A Study on Grasping Control of Robotic Hand Fingers
로봇 핸드핑거의 파지제어에 관한 연구
-
Shim, Byoung-Kyun
(Dept. of Advanced Engineering, Kyungnam University)
;
- Jung, Yang-Guen (Dept. of Advanced Engineering, Kyungnam University) ;
- Park, In-Man (Dept. of Advanced Engineering, Kyungnam University) ;
- hwang, Won-Jun (Dept. of Advanced Engineering, Kyungnam University) ;
- Kang, Un-Wook (Dept. of Advanced Engineering, Kyungnam University) ;
-
Han, Sung-Hyun
(School of Mechanical Engineering, Kyungnam University)
-
심병균
(경남대학교 첨단공학과)
;
- 정양근 (경남대학교 첨단공학과) ;
- 박인만 (경남대학교 첨단공학과) ;
- 황원준 (경남대학교 첨단공학과) ;
- 강언욱 (경남대학교 첨단공학과) ;
-
한성현
(경남대학교 기계공학부)
- Received : 2013.09.05
- Accepted : 2013.11.22
- Published : 2013.11.30
Abstract
This paper is the development of industrial robotic hand system and the design methods of industrial robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.