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Towards higher load capacity: innovative design of a robotic hand with soft jointed structure.
Guan, Ming; Qu, Chenxi; Yang, Liang; Lv, Jiliang; Li, Fenglei.
Afiliación
  • Guan M; School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, People's Republic of China.
  • Qu C; School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, United Kingdom.
  • Yang L; School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, People's Republic of China.
  • Lv J; School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, People's Republic of China.
  • Li F; School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, People's Republic of China.
Bioinspir Biomim ; 19(5)2024 Aug 29.
Article en En | MEDLINE | ID: mdl-39146962
ABSTRACT
In this paper, the innovative design of a robotic hand with soft jointed structure is carried out and a tendon-driven mechanism, a master-slave motor coordinated drive mechanism, a thumb coupling transmission mechanism and a thumb steering mechanism are proposed. These innovative designs allow for more effective actuation in each finger, enhancing the load capacity of the robotic hand while maintaining key performance indicators such as dexterity and adaptability. A mechanical model of the robotic finger was made to determine the application limitations and load capacity. The robotic hand was then prototyped for a set of experiments. The experimental results showed that the proposed theoretical model were reliable. Also, the fingertip force of the robotic finger could reach up to 10.3 N, and the load force could reach up to 72.8 N. When grasping target objects of different sizes and shapes, the robotic hand was able to perform the various power grasping and precision grasping in the Cutkosky taxonomy. Moreover, the robotic hand had good flexibility and adaptability by means of adjusting the envelope state autonomously.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Robótica / Fuerza de la Mano / Diseño de Equipo / Mano Límite: Humans Idioma: En Revista: Bioinspir Biomim Asunto de la revista: BIOLOGIA / ENGENHARIA BIOMEDICA Año: 2024 Tipo del documento: Article Pais de publicación: Reino Unido
Texto completo
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Robótica / Fuerza de la Mano / Diseño de Equipo / Mano Límite: Humans Idioma: En Revista: Bioinspir Biomim Asunto de la revista: BIOLOGIA / ENGENHARIA BIOMEDICA Año: 2024 Tipo del documento: Article Pais de publicación: Reino Unido