A New Four-Fingered Robot Hand with Dual Turning Mechanism

Author

Higashimori, Mitsuru ; Jeong, Hieyong ; Ishii, Idaku ; Kaneko, Makoto ; Namiki, Akio ; Ishikawa, Masatoshi

Author_Institution

Department of Artificial Complex Systems Engineering Graduate School of Engineering Hiroshima University Kagamiyama 1-4-1, Higashi-Hiroshima 739-8527, Japan; higashi@hfl.hiroshima-u.ac.jp

fYear

2005

fDate

18-22 April 2005

Firstpage

2679

Lastpage

2684

Abstract

This paper newly proposes the four-fingered robot hand with dual turning mechanism where two and two other fingers can independently rotate inner and outer circles with the common center, respectively. Due to this mechanical configuration, it has the particular rotating axis where the manipulation around the axis can be completely decomposed into the velocity control around the axis and the internal force control in the contact plane. We achieved a manipulation task around the axis with the time of 0.8[sec] for one rotation, while it is relatively slow for another axis.

Keywords

Dexterous Manipulation; Dual Turning Mechanism; Finger Design; Motion Decomposition; Actuators; Fingers; Force control; Grasping; Physics; Robotics and automation; Robots; Systems engineering and theory; Turning; Velocity control; Dexterous Manipulation; Dual Turning Mechanism; Finger Design; Motion Decomposition;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570518

Filename

1570518