Title :
Robotic hand with a new bending mechanism
Author :
Ishii, Chiharu ; Nishitani, Yosuke ; Hashimoto, Hiroshi
Author_Institution :
Dept. of Eng. Sci. & Mech., Shibaura Inst. of Technol., Tokyo, Japan
Abstract :
Recently, the development of a versatile robotic hand aiming at the application to an artificial arm or a humanoid robot is in demand. In this paper, omni-directional bending mechanism called "double-screw-drive mechanism" was applied to a robotic hand. The robotic hand with three fingers was built, and experiment was carried out, in which each fingertip was controlled so as to track the elliptical orbit. Then, the DSD robotic hand succeeded in rotating the cap of the PET bottle and removing the cap from the bottle.
Keywords :
dexterous manipulators; humanoid robots; materials handling; motion control; DSD robotic hand; bottle cap removal; bottle cap rotation; double-screw-drive mechanism; humanoid robot; omnidirectional bending mechanism; three fingers; Couplings; Design engineering; Fasteners; Fingers; Humanoid robots; Humans; Joints; Orbital robotics; Robotics and automation; Service robots; Double-screw-drive mechanism; Elliptical orbit; Robotic hand;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246668
