Title :
Novel mechanism of artificial finger
Author :
Koganezawa, Koichi ; Ishizuka, Yasutaka
Author_Institution :
Tokai Univ., Tokyo
Abstract :
This paper presents a newly developed artificial finger for anthropomorphic robots. It has a sophisticated mechanism consisting of double planetary gear system (DPGS) and compound closed linkage system (CCLS), which allows not only the synergistic gripping motion of three joints (DIP, PIP and MP joints) but also the abduction/adduction of the MP joint with only two or three actuators, all of which can be mounted on the palm.
Keywords :
anthropometry; gears; manipulator kinematics; MP joints abduction/adduction; anthropomorphic robots; artificial finger; compound closed linkage system; planetary gear system; Actuators; Anthropomorphism; Assembly; Couplings; Electronics packaging; Fingers; Gears; Robots; Shape control; Torque; abduction/adduction; artificial finger; double planetary gear system; synergistic gripping mechanism;
Conference_Titel :
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-1263-1
Electronic_ISBN :
978-1-4244-1264-8
DOI :
10.1109/AIM.2007.4412520
