Construction of object grasp control system using tendon drive skill robot hand

2018 ◽  
Vol 2018 (0) ◽  
pp. 1P1-H17
Author(s):  
Akihito ITO ◽  
Nobutaka TSUJIUCHI ◽  
Anju SHINO ◽  
Yunosuke OMOTO
Keyword(s):  
Control System ◽  
Robot Hand ◽  
Tendon Drive

Grasp Transfer Control Using Cartesian Coordinate Two-Link Robot Arm with Prototype Robot Hand Consisting of Stepping Motors, Gears and Plate Springs

2008 ◽  
Vol 2 (5) ◽  
pp. 360-367
Author(s):  
Ping Han ◽  
◽  
Hiroyuki Kojima ◽  
Lingfang Huang ◽  
Saputra Meruadi ◽  
...  
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Permanent Magnet ◽  
Motion Control ◽  
Force Control ◽  
Feedforward Control ◽  
Robot Hand ◽  
Robot Arm ◽  
Grasp Force ◽  
Cartesian Coordinate

In this study, the grasp transfer control system by a Cartesian coordinate two-link robot arm with a prototype robot hand is presented. The prototype robot hand consists of permanent-magnet-type stepping motors, gears and plate springs. The grasp force control of the robot hand is performed by a feedforward control of the stepping motors based on the dimension of a grasped object. The Cartesian coordinate two-link robot arm consists of ball screws and hybrid stepping motors. Then the numerical simulations and experiments of the grasp transfer control have been carried out, and it is confirmed that the grasp transfer control could be successfully performed, and the grasp force could be accurately controlled among the motion control of the Cartesian coordinate two-link robot arm.

Development of a Personal Robot with the Modularized Link Units

1993 ◽  
Vol 5 (3) ◽  
pp. 306-313
Author(s):  
Shigeru Kurono ◽  
◽  
Shigeto Aramaki ◽  
Yoshikazu Fujino ◽  
Keyword(s):  
Control System ◽  
Reduction Gear ◽  
Software System ◽  
Robot Hand ◽  
Position Sensor ◽  
Servo Motor ◽  
Servo Mechanism ◽  
Personal Robot ◽  
Hardware And Software System

If the links which can be used as the components of a robot are organized in a manner of ""modularized units"" equipped with an actuator, a sensory device, and even a servo-mechanism, respectively, many kinds of robots can be easily constructed and their flexibility will be greatly improved. For this purpose, we developed a modularized link unit comprised of a DC servo motor, a position sensor, and a reduction gear set. This unit has a number of characteristics such as having large torque and small backlash, making the direction of the robot hand independent of its position, and so on. Using these units, we constructed a ""personal robot"" and developed its control system. In this paper, we introduce the composition and characteristics of our link unit, and illustrate the hardware and software system of a robot made from the modularized link units in this study.

Anthropomorphic Robot Hand "Gifu-Hand II" and Hand Control System

2000 ◽  
Vol 2000.1 (0) ◽  
pp. 467-468
Author(s):  
Haruhisa KAWASAKI ◽  
Tatsuhisa ABE ◽  
Tetsuya MOURI ◽  
Kazunao UTIYAMA
Keyword(s):  
Control System ◽  
Robot Hand ◽  
Hand Control

A novel robot hand with embedded shape memory alloy actuators

2002 ◽  
Vol 216 (7) ◽  
pp. 737-745 ◽  
Author(s):  
K Yang ◽  
C L Gu
Keyword(s):  
Mechanical Properties ◽  
Control System ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Outer Diameter ◽  
Robot Hand ◽  
Sma Actuators ◽  
Constant Distance

This paper describes the development of an active robot hand, which allows smooth and lifelike motions for anthropomorphic grasping and fine manipulations. An active robot finger 10mm in outer diameter with a shape memory alloy (SMA) wire actuator embedded in the finger with a constant distance from the geometric centre of the finger was designed and fabricated. The practical specifications of the SMA wire and the flexible rod were determined on the basis of a series of formulae. The active finger consists of two bending parts, the SMA actuators and a connecting part. The mechanical properties of the bending part are investigated. The control system on the base of resistance feedback is also presented. Finally, a robot hand with three fingers was designed and the grasping experiment was carried out to demonstrate its performance.

scholarly journals Design of robot finger based on flexible tactile sensor

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987985 ◽  
Author(s):  
Zhijie Tang ◽  
Zhen Wang ◽  
Jiaqi Lu ◽  
Gaoqian Ma
Keyword(s):  
Control System ◽  
Silicone Rubber ◽  
Processing System ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Feedback Data ◽  
Gripping Force ◽  
Conductive Silicone Rubber ◽  
Hysteresis Characteristics ◽  
Dexterous Robot Hand

In this article, a flexible tactile sensor that made of conductive silicone rubber for dexterous robot hand is designed. The tactile sensor is made up of four microsensors. The maximum gripping force is simulated when the degree of a robot finger joint is 138. Meanwhile, a control system to analyze the creep and hysteresis characteristics and a processing system of the tactile sensor is designed. We also demonstrated an experiment for the application of robot grasp object, showing the finger’s flexibility and sensitivity. Then the feedback data is sent to control system to provide precise grasp action changes for the robot hand.

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