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Three-Fingered Eight-DOF Hand That Exerts 100-N Grasping Force With Force-Magnification Drive.

Three-Fingered Eight-DOF Hand That Exerts 100-N Grasping Force With Force-Magnification Drive.

Authors :
Takayama, Toshio
Yamana, Takahiro
Omata, Toru
Source :
IEEE/ASME Transactions on Mechatronics; Apr2012, Vol. 17 Issue 2, p218-227, 10p
Publication Year :
2012

Abstract

This paper presents a three-fingered, eight-DOF hand, 100 N Hand II, which can exert a grasping force of 100 N. A force-magnification drive, which can maintain a large grasping force without energy consumption, allows the hand to exert such large grasping force, and a high-speed driving mechanism enables all joints to perform high-speed motions of over 400^\circ/s. In our previous prototype (100 N Hand I), a screw and nut mechanism was used to implement force magnification. The linear motion of this mechanism was translated to rotational joint motion via a linkage mechanism, producing a relatively small motion range for each joint and with large palm dimensions. 100 N Hand II employs a worm gear instead of a screw and nut mechanism, so it can magnify the torque at an arbitrary joint angle. This improved force-magnification drive increases the motion range of each joint and reduces the palm size. The force and speed are confirmed experimentally. [ABSTRACT FROM PUBLISHER]

Details

Language :
English
ISSN :
10834435
Volume :
17
Issue :
2
Database :
Complementary Index
Journal :
IEEE/ASME Transactions on Mechatronics
Publication Type :
Academic Journal
Accession number :
71537997
Full Text :
https://doi.org/10.1109/TMECH.2010.2094198