학술논문
1A1-I07 Development of robot hand with anthropomorphic joints : Multi-joint Control by Wire Driven Actuators to Grasp Objects(Robot Hand Mechanism and Grasping Strategy) / 1A1-I07 人間の関節を模したロボットハンドの開発 : RCサーボを用いたワイヤ駆動による指関節多リンク制御(ロボットハンドの機構と把持戦略)
Document Type
Journal Article
Author
Source
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2011, 1
Subject
Language
Japanese
ISSN
2424-3124
Abstract
We manufacture an anthropomorphic hand with five fingers and control the fingers consisted of the multi-joints to grasp various objects by wire driven actuator. The state of grasping and holding objects can be detected using servomotor torque. There servo's torque was measured using the current sensor on the servomotor. In this paper we will observe the action and the response of each servomotor based on the current sensor data. We derived calibration method for current sensor. Additional, we did the tensile test of Kevlar yarn. Also, calculate the torque of servomotor used by current sensor data. Furthermore we show the mechanism of the designed robot hand.