학술논문
CLASH: Compliant Low Cost Antagonistic Servo Hands
Document Type
Conference
Source
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2018 IEEE/RSJ International Conference on. :6469-6476 Oct, 2018
Subject
Language
ISSN
2153-0866
Abstract
This paper presents the first two members of the new generation of CLASH hands, which exploit low cost actuation and rapid prototyping to create antagonistic modular and lightweight hands and grippers. The hands approach the robustness of the DLR Awiwi hand with a much lower complexity and cost. To reduce the number of required actuators, a differential coupling mechanism for underactuated fingers was developed, along with a new mechanism that uses variable stiffness actuation in order to increase the workspace of underactuated fingers. The hands provide a research platform for both hand-in-hand and robotic grasping. Design aspects are discussed, and an initial experimental validation verifies the hands' performance.