학술논문
텐던-풀리 구조를 가진 적응형 부족구동 3지 그리퍼 개발
Development of Underactuated Adaptive Gripper with Tendon-Pulley Structure
Development of Underactuated Adaptive Gripper with Tendon-Pulley Structure
Document Type
Article
Source
대한기계학회논문집 A, 47(11), pp.865-873 Nov, 2023
Subject
Language
한국어
ISSN
2288-5226
1226-4873
1226-4873
Abstract
본 연구에서는 로봇 청소기의 로봇암에 장착이 가능한 손가락 형태의 그리퍼를 개발하였다. 개발된 그리퍼는 로봇 청소기가 흡입할 수 없는 대상을 들어 잡아서 올리는 용도로 사용된다. 그리퍼는 3개의 손가락으로 구성되며, 각 손가락은 사람의 손가락 관절과 동일한 3개의 관절을 가진다. 경량화를 위해 텐던과 풀리를 이용하여 하나의 엑추에이터로 3개의 손가락을 구동한다. 대칭이 아닌 물체를 파지하기 위해 각 손가락에 강성이 다른 두 종류의 탄성체를 조합한 텐던을 활용하여 적응형 파지를 구현하였다. 제작된 프로토타입은 무게 132 g, 최대 가반하중 1,570 g으로 그리퍼 무게 대비 약 12배의 성능을 나타내었으며, 각 손가락이 물체에 가하는 힘은 최대 357 gf로 측정되었다. 로봇청소기 운용 환경에서 볼 수 있는 다양한 형상의 물체를 파지하는 실험을 통해 적응형 파지 기능이 성공적으로 동작하는 것을 확인하였다.
This study developed a finger-type gripper for a robotic arm, mounted on a robotic cleaner, which can pick objects that a typical robotic cleaner cannot. The gripper consists of three fingers, each having three joints identical to a human finger. The three fingers are driven by a single actuator, using a tendon and a pulley for weight reduction. Adaptive gripping was implemented using a tendon that combines two types of elastic bodies with different rigidity on each finger to grip non-symmetric objects. A prototype was built with a gripper weight of 132 g and a maximum portable load of 1,570 g, which is approximately 12 times the weight of the gripper; the force exerted by each finger on the object to be picked up was measured to be nearly 358 g-f. An experiment of gripping objects of various shapes encountered in the robot vacuum operational environment confirmed that the adaptive gripping function worked successfully.
This study developed a finger-type gripper for a robotic arm, mounted on a robotic cleaner, which can pick objects that a typical robotic cleaner cannot. The gripper consists of three fingers, each having three joints identical to a human finger. The three fingers are driven by a single actuator, using a tendon and a pulley for weight reduction. Adaptive gripping was implemented using a tendon that combines two types of elastic bodies with different rigidity on each finger to grip non-symmetric objects. A prototype was built with a gripper weight of 132 g and a maximum portable load of 1,570 g, which is approximately 12 times the weight of the gripper; the force exerted by each finger on the object to be picked up was measured to be nearly 358 g-f. An experiment of gripping objects of various shapes encountered in the robot vacuum operational environment confirmed that the adaptive gripping function worked successfully.