A Robot Finger Design Using a Dual-Mode Twisting Mechanism to Achieve High-Speed Motion and Large Grasping Force

A dual-mode robot finger is proposed to achieve a high-speed motion and large grasping force with a single motor. The robot finger has two actuator modes, which consist of the speed mode and the force mode. Based on the geometric analysis of each mode, the main design parameters of the proposed robot finger are derived, and their effectiveness is verified by simulations. In addition, using experiments with a prototype of a robot finger, the validity of the proposed approach is demonstrated.

[1]  M.C. Carrozza,et al.  Embedded hardware architecture based on microcontrollers for the action and perception of a transradial prosthesis , 2008, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[2]  Nancy S. Pollard,et al.  On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Christian Cipriani,et al.  Progress towards the development of the SmartHand transradial prosthesis , 2009, 2009 IEEE International Conference on Rehabilitation Robotics.

[4]  Azumi Ichikawa,et al.  Toward Springy Robot Walk Using Strand-Muscle Actuators , 2005 .

[5]  Kyung-Soo Kim,et al.  Distributed-Actuation Mechanism for a Finger-Type Manipulator: Theory and Experiments , 2010, IEEE Transactions on Robotics.

[6]  T. Takayama,et al.  Three-Fingered Eight-DOF Hand That Exerts 100-N Grasping Force With Force-Magnification Drive , 2012, IEEE/ASME Transactions on Mechatronics.

[7]  Takashi Maeno,et al.  Miniature five-fingered robot hand driven by shape memory alloy actuators , 2006 .

[8]  Stefan Schulz,et al.  Modularly designed lightweight anthropomorphic robot hand , 2006, 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems.

[9]  Edward J. Park,et al.  A shape memory alloy-based tendon-driven actuation system for biomimetic artificial fingers, part I: design and evaluation , 2009, Robotica.

[10]  Gerd Hirzinger,et al.  The modular multisensory DLR-HIT-Hand , 2007 .

[11]  Takashi Sonoda,et al.  Multi-fingered robotic hand employing strings transmission named “Twist Drive” , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Hong Liu,et al.  A dexterous humanoid five-fingered robotic hand , 2008, RO-MAN 2008 - The 17th IEEE International Symposium on Robot and Human Interactive Communication.

[13]  Haruhisa Kawasaki,et al.  Developments of new anthropomorphic robot hand and its master slave system , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Takashi Maeno,et al.  Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[15]  Silvestro Micera,et al.  A Cosmetic Prosthetic Hand with Tendon Driven Under-Actuated Mechanism and Compliant Joints: Ongoing Research and Preliminary Results , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[16]  Hyoukryeol Choi,et al.  Multi-jointed robot finger driven by artificial muscle actuator , 2009, 2009 IEEE International Conference on Robotics and Automation.

[17]  C. Natale,et al.  The twisted string actuation system: Modeling and control , 2010, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[18]  Toru Omata,et al.  Grasp Force Magnifying Mechanism for Parallel Jaw Grippers , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[19]  Takayuki Koizumi,et al.  Development of Pneumatic Robot Hand and Construction of Master-Slave System , 2008 .