Browse > Article
http://dx.doi.org/10.7746/jkros.2012.7.1.001

Design of a Humanoid Robot-hand with MEC-Joint  

Lee, Sang-Mun (고등기술연구원 로봇/생산기술센터)
Lee, Kyoung-Don (고등기술연구원 로봇/생산기술센터)
Min, Heung-Ki (고등기술연구원 로봇/생산기술센터)
Noh, Tae-Sung (주) 로보멕)
Kim, Sung-Tae (주) 로보멕)
Publication Information
The Journal of Korea Robotics Society / v.7, no.1, 2012 , pp. 1-8 More about this Journal
Abstract
A humanoid robot hand with one thumb and two fingers has been developed. Each finger has the specially designed compact joints, called "MEC Joint", which convert the rotation of a motor to the swing motion of a pendulum. The robot hand with the MEC Joints is compact and relatively light but strong enough to grasp objects in the same manner as human being does in daily activities. In this paper the kinematic model and the torque characteristics of the MEC Joint are presented and compared with the results of the dynamic simulation and the dynamometer test. The dynamic behavior of the thumb and two fingers with MEC Joints are also presented by computer simulation.
Keywords
robot hand; humanoid; finger joint; torque; D-H Parameter;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 I. I. Artobolevsky, Mechanisms in Modern Engineering Design: Vol. 1. Lever Mechanisms, MIR Publishers Moscow, pp.373, 1979.
2 안상익, 오용환, 권상주, "인간손의 동작과 모양을 모방한 휴머노이드 로봇손 설계", 제어.로봇.시스템확회 논문집 제14권, 제1호, pp. 62-69, 1, 2008.
3 T. B. Martin, R.O. Ambrose, M. A. Diftler, et al., Tactile Gloves for Autonomous Grasping with the NASA/DARPA Robonaut. Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans,LA, April, 2004.
4 http://www.barrett.com/robot/products-hand.htm
5 H. kawasaki, T. Komatsu,K. Uchiyama, Anthropomorphic Robot Hand: Gigu Hand III. Int. conf. on Control, Automation, and Systems, pp.1288-1293, 2002.
6 Haruhisa Kawasaki, Tsuneo Komatsu, and Kazunao Uchiyama: Dexterous Anthropomorphic Robot Hand With Distributed Tactile Sensor: Gifu Hand II, IEEE /ASME Transactions on Mechatronics, Vol. 7, No. 3, pp. 296-303, 2002   DOI   ScienceOn
7 B.-H. Kim, B.-J. Yi, S.-R. Oh, and I.H. Suh, "Independent finger and independent joint-based compliance control of multifingered robot hands", IEEE Trans. Robotics and Automation, vol. 19, no.2, pp.185-199, April, 2003.   DOI   ScienceOn
8 S.-I. An, Y.-H. Oh, S.-J. Kwon, "Design of a Humanoids Specific Anthropomorphic Robot Hand by Imitating Human Finger's Motion", URAI 2007. April, 2007.
9 이석원, "병렬 구동 인체 모방형 로봇 핸드의 개발과 제어", 학위논문, 2, 2010.
10 천주영, 최병준, 채한상, 문형필, 최혁렬, "인간형 다지 다관절 로봇 핸드의 개발", 한국로봇공학회학회지 제5권, 제2호, pp. 102-109, 6, 2010.
11 K. DeLaurentis, C. Pfeiffer and C. Maviroidis, "Development of a shape memory alloy actuated hand, Proc. 7th Int. Conf. New Actuators, pp. 281-284, 2000.
12 이민규, "정밀한 파지를 할 수 있는 로봇손의 안정성평가", 한국소음진동공학회 추계학술대회논문집, 2007.
13 V. Agrawal, W. J. Piene and B. Yao, Modeling of a closed loop cableconduit transmission system, Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3407-3412, 2008
14 J. Butterfass, M. Grebenstein, H. Liu and G. Hirzinger, DLR-Hand II: Next Generation of a Dextrous Robot Hand, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 109-114, 2001
15 Y. Kurita, et. al., NAIST Hand 2: Human-sized Anthropomorphic Robot hand with Detachable mechanism at the Wrist, The 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, St. Louis, USA, pp. 2271-2276, Oct. 2009.
16 Jacobsen, S., et al., Design of the Utah/M.I.T. Dextrous Hand. Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, 1520-1532, 1986.