Eine fluidisch angetriebene anthropomorphe Roboterhand

Zusammenfassung In diesem Artikel wird eine fluidisch angetriebene Roboterhand vorgestellt, deren flexible Aktuatoren adaptives Greifen sowie die weiche Handhabung von Gegenständen ermöglichen. Der mechanische Aufbau vereinigt die anthropomorphe Erscheinung mit einer präzisen DreiPunkt-Kinematik eines Greifers. Es werden Designmerkmale, das Antriebskonzept, die Steuerungskomponenten, technische Eigenschaften und ein Anwendungsbeispiel für die Service-Robotik beschrieben. Abstract A fluidic driven robotic hand is presented in this article. Flexible fluidic actuators of high power-to-weight ratio are used for the actuation and allow for adaptive grasping, compliant handling and stable holding of objects during manipulation. The construction of the robotic hand combines a human-like appearance with a preciseness of a robotic gripper. This study represents a design concept, an actuation principle, set of components, technical characteristics of a fluidic hand and its application.

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