Three-Fingered Robot Hand with Gripping Force Generating Mechanism Using Small Gas Springs - Mechanical Design and Basic Experiments –

2019 ◽  
Vol 31 (1) ◽  
pp. 118-134 ◽  
Author(s):  
Junya Tanaka ◽  
Keyword(s):  
Power Supply ◽  
Mechanical Design ◽  
Robot Hand ◽  
Single Motor ◽  
Feed Screw ◽  
Screw Mechanism ◽  
Gripping Force ◽  
Basic Experiments ◽  
Flexion And Extension

This paper presents the mechanical design of a new three-fingered robot hand for a robot designed to handle tableware. The finger mechanism has three joints and consists of a pair of fourbar linkage mechanisms, one small gas spring, and one feed screw mechanism. As the feed screw moves, the finger mechanism performs flexion and extension operations with its joints interlocked. The gas spring generates gripping force, which is adjusted at the position of the moving part moved by the feed screw. Therefore, the three-fingered robot hand can open and close synchronously, powered by a single motor in the base of the hand. The hand grips with mechanical flexibility. In addition, it can maintain its grip with no power supply. Tests show that the hand can successfully perform the movements required to grasp various kinds of tableware.

Four-Fingered Robot Hand with Mechanism to Change the Direction of Movement – Mechanical Design and Basic Experiments –

2018 ◽  
Vol 30 (4) ◽  
pp. 624-637 ◽  
Author(s):  
Junya Tanaka ◽  
◽  
Atsushi Sugahara ◽  
Hideki Ogawa
Keyword(s):  
Mechanical Design ◽  
Service Robot ◽  
Robot Hand ◽  
State Transformation ◽  
Effective Mechanism ◽  
Direction Of Movement ◽  
High Level ◽  
Opening And Closing ◽  
Movement Orientation ◽  
Basic Experiments

This paper presents the mechanical design for a new, four-fingered robot hand. The hand was developed in the context of a service robot project that aims to produce a robot that can handle tableware of various shapes to set and clear a table. This project required the development of a new hand that has a small number of motors but still a high level of adaptability so that it can handle the various shapes of tableware found in a place setting. We therefore developed a four-fingered robot hand which consists of four finger mechanisms and a mechanism capable of changing its direction of movement. The movement orientation of the four fingers can change, in a synchronized state, from a posture in which they are directly opposed to one in which they are diagonally opposed. This state transformation can be achieved with only one motor. Also, four fingers can perform synchronous opening and closing motions, and these motions can be achieved by only one motor. Only two motors are needed to drive the robot hand, and both are installed in the base of the hand. Consequently, the hand is a simple but very effective mechanism for stably handling tableware. Tests have shown that it can successfully grasp various kinds of tableware, and that the new mechanism operates effectively.

scholarly journals Controlling an Anatomical Robot Hand Using the Brain-Computer Interface Based on Motor Imagery

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
H. M. K. K. M. B. Herath ◽  
W.R. de Mel
Keyword(s):  
Sri Lanka ◽  
Motor Imagery ◽  
Primary Motor Cortex ◽  
New Technologies ◽  
Disabled Persons ◽  
World Health ◽  
Robot Hand ◽  
Hand Model ◽  
Handicapped People ◽  
Flexion And Extension

More than one billion people face disabilities worldwide, according to the World Health Organization (WHO). In Sri Lanka, there are thousands of people suffering from a variety of disabilities, especially hand disabilities, due to the civil war in the country. The Ministry of Health of Sri Lanka reports that by 2025, the number of people with disabilities in Sri Lanka will grow by 24.2%. In the field of robotics, new technologies for handicapped people are now being built to make their lives simple and effective. The aim of this research is to develop a 3-finger anatomical robot hand model for handicapped people and control (flexion and extension) the robot hand using motor imagery. Eight EEG electrodes were used to extract EEG signals from the primary motor cortex. Data collection and testing were performed for a period of 42 s timespan. According to the test results, eight EEG electrodes were sufficient to acquire the motor imagery for flexion and extension of finger movements. The overall accuracy of the experiments was found at 89.34% (mean = 22.32) at the 0.894 precision. We also observed that the proposed design provided promising results for the performance of the task (grab, hold, and release activities) of hand-disabled persons.

Performance Validation of Engine Starter Utilizing Feed Screw Mechanism

2016 ◽  
Author(s):  
Isamu Shiotsu ◽  
Kisaburo Hayakawa ◽  
Hiroyuki Nishizawa
Keyword(s):  
Feed Screw ◽  
Screw Mechanism ◽  
Performance Validation

scholarly journals Thermal Design, Analysis and Packaging of an Airborne Multi-output Power Supply Unit

2018 ◽  
Vol 68 (3) ◽  
pp. 235
Author(s):  
Sogunuru Annapurna ◽  
Pradapan Vikram ◽  
Suma Varughese
Keyword(s):  
Output Power ◽  
Power Supply ◽  
Thermal Environment ◽  
Mechanical Design ◽  
Hot Spot ◽  
Thermal Design ◽  
Power Supply Unit ◽  
Thermal Requirements ◽  
And Performance ◽  
Heat Sink Design

Design of airborne multi-output power supply unit (MOPS) is restricted by space, weight and predefined geometry of air flow path. The unit is cooled by ram air and hence, exposed to the extreme external thermal environment that changes typically from +55°C to -40°C, from ground to cruising altitude within a few minutes. Hence the design should meet the thermal requirements of the electronics inside the packaging adequately, for both the positive and negative extremities of the temperature, so that device limiting temperatures are not exceeded. At the same time, it must accommodate the necessary circuitry. Details of the thermal and mechanical design and performance of the MOPS unit at various altitudes, hot spot location, flow requirements and optimal heat sink design are presented in this paper.

Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer

Robotica ◽  
2019 ◽  
Vol 37 (6) ◽  
pp. 1090-1103 ◽  
Author(s):  
Mitsunori Uemura ◽  
Yuki Mitabe ◽  
Sadao Kawamura
Keyword(s):  
Gear Ratio ◽  
Robot Hand ◽  
Compensation Mechanism ◽  
Robot Arm ◽  
Unstructured Environments ◽  
Gravitational Torque ◽  
Gripping Force ◽  
Force Compensation

SummaryIn this paper, we propose a novel mechanism to compensate for gravity and the gripping force in a hand-arm robot. This mechanism compensates for the gravitational torque produced by an object gripped by the hand-arm robot. The gripping force required for the robot hand to prevent the object from dropping is also simultaneously compensated for. This mechanism requires only one actuator placed on the shoulder part of the robot. Therefore, this mechanism can reduce the torque requirement of joint actuators and lower the weight of the robot. The gear ratio of the reduction gears in each robot joint can then also be reduced. These advantages are critical for future robots that perform tasks in unstructured environments and collaborate with humans. We carried out experiments with a 6-DoF robot arm having a 1-DoF gripper to demonstrate the effectiveness of the proposed mechanism.

scholarly journals Dynamic Model of Planetary Roller Screw Mechanism with Considering Torsional Degree of Freedom

2020 ◽  
Vol 306 ◽  
pp. 01003
Author(s):  
Linping Wu ◽  
Shangjun Ma ◽  
Qi Wan ◽  
Geng Liu
Keyword(s):  
Dynamic Model ◽  
Mechanical Design ◽  
Relative Displacement ◽  
Hertzian Contact ◽  
Torsional Stiffness ◽  
Roller Screw ◽  
Mode Characteristics ◽  
Screw Mechanism ◽  
The Relationship ◽  
Hertzian Contact Theory

To predict accurately the dynamics performance of planetary roller screw mechanism, it is necessary to establish its streamline and engineering-compliant dynamic model, which is the basis of mechanical design and precision control of the system. In this paper, the relative displacement between roller and ring gear along the line of action is deduced and the relationship between nature frequencies and the number of rollers is discussed. Considering the torsional stiffness of all components and the thread mesh stiffness based on the Hertzian contact theory, the purely torsional model for planetary roller screw mechanism is presented to reveal the natural frequencies and vibration mode characteristics of the system. The results show that the natural properties of undamped system in planetary roller screw mechanism are mainly reflected by two typical vibration modes: rotational mode and roller mode.

Development of ""Souryu I & II"" -Connected Crawler Vehicle for Inspection of Narrow and Winding Space

2003 ◽  
Vol 15 (1) ◽  
pp. 61-69 ◽  
Author(s):  
Toshio Takayama ◽  
◽  
Shigeo Hirose
Keyword(s):  
Large Scale ◽  
Mechanical Characteristics ◽  
Mechanical Design ◽  
Field Tests ◽  
Basic Concepts ◽  
And Performance ◽  
Basic Experiments ◽  
The Way

In large-scale disasters such as earthquakes, people who have been trapped inside collapsed houses or buildings must be located and rescued as soon as possible, because it becomes difficult to survive, as the time passes. The prototype of ""Connected Crawler Vehicle for Inspection of Narrow and Winding Space"", named ""Souryu"" has been developed for the purpose of searching for such victims. In order to stand practical use, the necessity of easy control and toughness are the basic concepts of this vehicle, and based on these principles, we determined the actual vehicle mechanical characteristics. In this paper, the mechanical design and performance of ""Souryu I"", and the way of improvement for ""Souryu II"" will be discussed and the effectiveness will be confirmed by some basic experiments and field tests.

Gripping force measurement for robot hand with soft cover

2020 ◽  
Vol 2020 (0) ◽  
pp. 2A1-J09
Author(s):  
Yohei TAKEDA ◽  
Kentaro NODA ◽  
Takuya TSUKAGOSHI ◽  
Takumi TAMAMOTO ◽  
Ken’ichi KOYANAGI ◽  
...  
Keyword(s):  
Force Measurement ◽  
Robot Hand ◽  
Gripping Force

Helios VII: a new vehicle for disaster response — mechanical design and basic experiments

2005 ◽  
Vol 19 (8) ◽  
pp. 901-927 ◽  
Author(s):  
M. Guarnieri ◽  
P. Debenest ◽  
T. Inoh ◽  
E. Fukushima ◽  
S. Hirose
Keyword(s):  
Disaster Response ◽  
Mechanical Design ◽  
Basic Experiments

Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation

Robotica ◽  
2018 ◽  
Vol 36 (8) ◽  
pp. 1206-1224 ◽  
Author(s):  
P. Vulliez ◽  
J. P. Gazeau ◽  
P. Laguillaumie ◽  
H. Mnyusiwalla ◽  
P. Seguin
Keyword(s):  
Mechanical Design ◽  
Robotic Hand ◽  
Robot Hand ◽  
Serial Robots ◽  
Industrial Grade ◽  
Robot Hands ◽  
Dexterous Hand ◽  
Common Architecture ◽  
Near Future ◽  
Dexterous Robot Hand

SUMMARYThis paper presents a novel tendon-driven bio-inspired robotic hand design for in-hand manipulation. Many dexterous robot hands are able to produce adaptive grasping, but only a few human-sized hands worldwide are able to produce fine motions of the object in the hand. One of the challenges for the near future is to develop human-sized robot hands with human dexterity. Most of the existing hands considered in the literature suffer from dry friction which creates unwanted backlash and non-linearities. These problems limit the accurate control of the fingers and the capabilities of the hand. Such was the case with our first fully actuated dexterous robot hand: the Laboratoire de Mécanique des Solides (LMS) hand.The mechanical design of the hand relies on a tendon-based transmission system. Developing a fully actuated dexterous robot hand requires the routing of the tendons through the finger for the actuation of each joint. This paper focuses on the evolution of the tendon routing; from the LMS hand to the new RoBioSS dexterous hand. The motion transmission in the new design creates purely linear coupling relations between joints and actuators. Experimental results using the same protocol for the previous hand and the new hand illustrate the evolution in the quality of the mechanical design. With the improvements of the mechanical behavior of the robotic fingers, the hand control software could be extensively simplified. The choice of a common architecture for all fingers makes it possible to consider the hand as a collaboration of four serial robots. Moreover, with the transparency of the motor-joint transmissions, we could use robust, industrial-grade cascaded feedback loops for the axis controls.An inside-hand manipulation task concerning the manipulation of a bottle cap is presented at the end of the paper. As proof of the robustness of the hand, demonstrations of the hand's capabilities were carried out continuously over three days at SPS IPC Drives international exhibition in Nuremberg, in November 2016.

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