Development of multifinger robot hand with vibration fingers

Keiichi Nakamura, Satoshi Honda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A multi-finger robot which can handle three dimensional objects of unknown weight and unknown surface conditions with the most suitable grasping force has been developed. The hand has three fingers. Each finger is composed of a torsional vibration system consisting of a damping roller, a vibration roller, a rotational support spring, and a rotational absorber spring. A small motor with an eccentric mass mounted on its shaft is placed in each vibration roller. Harmonic torque is generated in each vibration roller by rotating the eccentric mass, so that the vibration rollers and damping rollers are forced to vibrate. Through the initial grasping process, the object is handled by the vibration rollers with the most suitable grasping force. In this paper, the most suitable grasping force is derived through theoretical analysis.

Original languageEnglish
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
EditorsGeorge E. Foret, Kam C. Lau, Bart O. Nnaji
Pages214-218
Number of pages5
Publication statusPublished - 1995 Dec 1
EventMachine Tool, In-Line, and Robot Sensors and Controls - Philadelphia, PA, USA
Duration: 1995 Oct 251995 Oct 26

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume2595
ISSN (Print)0277-786X

Other

OtherMachine Tool, In-Line, and Robot Sensors and Controls
CityPhiladelphia, PA, USA
Period95/10/2595/10/26

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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  • Cite this

    Nakamura, K., & Honda, S. (1995). Development of multifinger robot hand with vibration fingers. In G. E. Foret, K. C. Lau, & B. O. Nnaji (Eds.), Proceedings of SPIE - The International Society for Optical Engineering (pp. 214-218). (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 2595).