Development of multifinger robot hand with vibration fingers

Keiichi Nakamura; Satoshi Honda

Development of multifinger robot hand with vibration fingers

Keiichi Nakamura, Satoshi Honda

Department of Applied Physics and Physico-Informatics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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 language	English
Title of host publication	Proceedings of SPIE - The International Society for Optical Engineering
Editors	George E. Foret, Kam C. Lau, Bart O. Nnaji
Pages	214-218
Number of pages	5
Publication status	Published - 1995 Dec 1
Event	Machine Tool, In-Line, and Robot Sensors and Controls - Philadelphia, PA, USA Duration: 1995 Oct 25 → 1995 Oct 26

Publication series

Name	Proceedings of SPIE - The International Society for Optical Engineering
Volume	2595
ISSN (Print)	0277-786X

Other

Other	Machine Tool, In-Line, and Robot Sensors and Controls
City	Philadelphia, PA, USA
Period	95/10/25 → 95/10/26

ASJC Scopus subject areas

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

Cite this

Development of multifinger robot hand with vibration fingers. / Nakamura, Keiichi; Honda, Satoshi.

Proceedings of SPIE - The International Society for Optical Engineering. ed. / George E. Foret; Kam C. Lau; Bart O. Nnaji. 1995. p. 214-218 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 2595).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nakamura, K & Honda, S 1995, Development of multifinger robot hand with vibration fingers. in GE Foret, KC Lau & BO Nnaji (eds), Proceedings of SPIE - The International Society for Optical Engineering. Proceedings of SPIE - The International Society for Optical Engineering, vol. 2595, pp. 214-218, Machine Tool, In-Line, and Robot Sensors and Controls, Philadelphia, PA, USA, 95/10/25.

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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.",

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AB - 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.

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BT - Proceedings of SPIE - The International Society for Optical Engineering

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ER -

Development of multifinger robot hand with vibration fingers

Abstract

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ASJC Scopus subject areas

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