DocumentCode
501089
Title
Application of sliding actuation mechanism to robot finger
Author
Shin, Young June ; Kim, Kyung-soo ; Kim, Soohyun
Author_Institution
Dept. of Mech. Eng., KAIST, Daejeon, South Korea
fYear
2009
fDate
14-17 July 2009
Firstpage
550
Lastpage
553
Abstract
In this paper, we newly devise a sliding actuation mechanism utilizing linear sliding actuators for robot finger. By the application to a finger-type manipulator with 4 links - 3 joints, it is shown that the sliding actuation mechanism does allow further enhancement of fingertip force. To demonstrate the effectiveness of the proposed actuation mechanism, we develop a finger-type manipulator using six tiny ultrasonic motors and perform experiments.
Keywords
actuators; dexterous manipulators; finger-type manipulator; fingertip force; linear sliding actuators; robot finger; sliding actuation mechanism; ultrasonic motors; Fingers; Humans; Industrial training; Intelligent actuators; Intelligent robots; Manipulators; Mechatronics; Muscles; Pneumatic actuators; Shape memory alloys;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-2852-6
Type
conf
DOI
10.1109/AIM.2009.5229956
Filename
5229956
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