로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제9권4호
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  • Pages.258-263
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  • 2014
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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와이어 기반의 적응형 로봇 핸드

Tendon-driven Adaptive Robot Hand

  • 투고 : 2014.08.04
  • 심사 : 2014.10.27
  • 발행 : 2014.11.28
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초록

An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructured environments. In this study, we propose an AR-Hand based on a tendon-driven mechanism which consists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand based on the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithm or sensor system. The fingers are driven by simple tendon structures with each finger capable of adaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptive grasping is verified by various grasping experiments involving objects with different shapes and sizes.

키워드

참고문헌

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피인용 문헌

  1. Improvement of an Underactuated Prosthetic Hand Based on Grasp Performance Evaluation vol.40, pp.10, 2016, https://doi.org/10.3795/KSME-A.2016.40.10.843
  2. Force and Pose control for Anthropomorphic Robotic Hand with Redundancy vol.10, pp.4, 2015, https://doi.org/10.7746/jkros.2015.10.4.179
  3. Slip Considered Design and Analysis Pincers-type Gripper for Seizing Heavy-weighted Cylindrical Objects vol.10, pp.4, 2015, https://doi.org/10.7746/jkros.2015.10.4.193
  4. 손과 팔의 협업에 의한 로봇 펙인홀 작업 vol.10, pp.1, 2014, https://doi.org/10.7746/jkros.2015.10.1.042
  5. 국립재활원 외골격 로봇(NREX)의 손 모듈 개발 vol.10, pp.3, 2015, https://doi.org/10.7746/jkros.2015.10.3.162
  6. 과소 구동 전동의수의 파지력 제어를 위한 햅틱 시스템 개발 vol.41, pp.5, 2014, https://doi.org/10.3795/ksme-a.2017.41.5.415
  7. 파지 안정성을 강화한 과수 수확용 로봇 그리퍼의 설계 개선 vol.15, pp.2, 2020, https://doi.org/10.7746/jkros.2020.15.2.107