강력 정밀 파지를 할 수 있는 로봇 손의 기구 설계

Abstract

Recently, robots have begun to perform various tasks on replacing the human in the daily life such as cleaning, entertainments etc. In order to accomplish the effective performance of intricate and precise tasks, robot hand must have special capabilities, such as decision making in given condition, autonomy in unknown situation and stable manipulation of object In this study, we addresses the development of a 3-fingered humanoid robot hand system We execute static analysis and vibration analysis to reserve stability at the design. We propose a fust and efficient grasp by the robot hand. Grasp motion of the finger uses a linear actuator and gears. Motion can be distinguished into four parts depending on the grasping thin paper, sphere, and column A new robot is manufactured and feasibility of the hand is validated through preliminary experiments.