An integrated approach to the design of complex robotic end-effectors

摘要

In this paper, a novel design approach for the development of robot hands is presented. This approach can be considered alternative to the "classical" one for several reasons. First, the overall project addresses, besides the widespread specifications of dexterity and anthropomorphism, issues that some time are neglected or not fully considered in the design of robotic end-effectors, e.g. the structural complexity of the system, its reliability and costs. In order to achieve these results the tools used are also different from the traditional ones: compliant structures (e.g. elastic hinges) have been preferred to more standard robotic technologies, like pin bearing joints. Last, to cope with the problems due to the adopted mechanical technology (for instance undesired compliance effects) a mechatronic approach has been followed, which takes into account the all the possible interactions between mechanics, electronics and above all control. In the paper, this research activity is presented and the preliminary experimental tests on a first prototype are reported and discussed.