Multisensory HIT/DLR dexterous robot hand

Author

Jiang, L. ; Jin, M.H. ; Gao, X.H. ; Xie, Z.W. ; Yang, L. ; He, P. ; Liu, Y.W. ; Wei, R. ; Cai, H.G. ; Liu, H. ; Seitz, N. ; Grebenstein, M. ; Hirzinger, G.

Author_Institution

Inst. of Robot Res., Harbin Inst. of Technol., China

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

76

Abstract

This paper describes the current work progress of HIT/DLR dexterous hand. Based on the technology of DLR hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand with multisensory system. The prototype of one finger has been successfully built. The finger has three DOF and four joints; last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog hall sensors. DSP based control system is implemented in PCI bus architecture and the serial communications between the hand and DSP needs only 2 lines. The fingertip force can reach 10N.

Keywords

actuators; brushless DC motors; dexterous manipulators; mechatronics; sensor fusion; PCI bus architecture; actuators; commercial brushless DC motors; fingertip force; integrated analog hall sensors; multisensory H1T/DLR dexterous robot hand; multisensory system; Actuators; Brushless DC motors; Communication system control; Control systems; Couplings; Digital signal processing; Fingers; Manufacturing; Prototypes; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225075

Filename

1225075