Title :
BLDC motor driven robot finger design using the sliding actuation principle
Author :
Shin, Young June ; Kim, Kyung-soo ; Kim, Soohyun
Author_Institution :
Sch. of Mech., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea
Abstract :
In this paper, we suggest a robot finger driven by BLDC motors utilizing the distributed actuation mechanism. The mechanism allows an additional design freedom to optimize the fingertip force, which implies the usage of the maximal capacity of actuators. By numerical analysis and experiments, the fingertip forces of the developed robot finger will be given to prove the effectivenss of the distributed actuation principle.
Keywords :
actuators; brushless DC motors; dexterous manipulators; mechatronics; BLDC motor driven robot finger design; brushless DC motor; distributed actuation mechanism; fingertip force optimization; sliding actuation principle; Actuators; Aerospace engineering; Brushless DC motors; DC motors; Design engineering; Fingers; Humans; Muscles; Robot sensing systems; Shape memory alloys; Fingertip Force; Optimization; Robot Finger; Sliding Actuation;
Conference_Titel :
Robotics Automation and Mechatronics (RAM), 2010 IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-6503-3
DOI :
10.1109/RAMECH.2010.5513212
