期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 28, 期 6, 页码 1398-1405出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2012.2206870
关键词
Dual-mode robot finger; fast bending motion; grasping force; twisted string actuation
类别
资金
- Unmanned Technology Research Center, Korea Advanced Institute of Science and Technology
- Defense Acquisition Program Administration, Agency for Defense Development
A dual-mode robot finger is proposed to achieve a high-speed motion and large grasping force with a single motor. The robot finger has two actuator modes, which consist of the speed mode and the force mode. Based on the geometric analysis of each mode, the main design parameters of the proposed robot finger are derived, and their effectiveness is verified by simulations. In addition, using experiments with a prototype of a robot finger, the validity of the proposed approach is demonstrated.
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