Development of multifinger robot hand with vibration fingers

Keiichi Nakamura, Satoshi Honda

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of SPIE - The International Society for Optical Engineering
編集者George E. Foret, Kam C. Lau, Bart O. Nnaji
ページ214-218
ページ数5
出版ステータスPublished - 1995 12 1
イベントMachine Tool, In-Line, and Robot Sensors and Controls - Philadelphia, PA, USA
継続期間: 1995 10 251995 10 26

出版物シリーズ

名前Proceedings of SPIE - The International Society for Optical Engineering
2595
ISSN(印刷版)0277-786X

Other

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

ASJC Scopus subject areas

  • 電子材料、光学材料、および磁性材料
  • 凝縮系物理学
  • コンピュータ サイエンスの応用
  • 応用数学
  • 電子工学および電気工学

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