JLST Hand: A Novel Powerful Self-adaptive Underactuated Hand with Joint-Locking and Spring-Tendon Mechanisms

详细信息    查看全文

• 关键词：Robot hand ; Underactuated finger ; Joint ; locking ; Spring ; tendon mechanism
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9979
• 期：1
• 页码：492-501
• 全文大小：1,365 KB
• 参考文献：1.Loucks, C.S.: Modeling and Control of the Stanford/JPL Hand. In: 1987 International Conference on Robotics and Automation, pp. 573–578 (1987)
  2.Jacobsen, S.C., Iversen, E.K., Knutti, D.F., et al.: Design of the Utah/MIT Dextrous Hand. In: IEEE International Conference on Robotics and Automation, pp. 1520–1532 (1986)
  3.Butterfass, J., Grebenstein, M., Liu, H., et al.: DLR-Hand II: next generation of a dextrous robot hand. In: IEEE International Conference on Robotics and Automation (ICRA), vol.1, pp. 109–114 (2001)
  4.Dollar, A., Howe, D.: Joint coupling design of underactuated grippers. In: ASME Mechanical and Robotics Conference, 2006 International Design Engineering Technical Conference (IDETC), Philadelphia, July 2005, pp. 10–13 (2006)
  5.Dubey, V., Crowder, M.: Grasping and control issues in adaptive end effectors. In: ASME Design Engineering Technical Conference and Computers and Information in Engineering Conference New York, May 2004, pp. 1–9 (2004)
  6.Zhang, W., Chen, Q., Sun, Z., et al.: Under-actuated passive adaptive grasp humanoid robot hand with control of grasping force. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 696–701 (2003)
  7.Che, D., Zhang, W.: GCUA humanoid robotic hand with tendon mechanisms and its upper limb. Int. J. Soc. Robot. 3(1), 395–404 (2011)CrossRef
  8.Zhang, W., Tian, L., Liu, K.: Study on multi-finger under-actuated mechanism for TH-2 robotic hand. In: IASTED International Conference on Robotics and Applications, pp. 420–424 (2007)
  9.Demers, L.A., Lefrancois, S., Jobin, J.: Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping. US Patent, US8973958 (2015)
  10.Liang, D., Zhang, W., Sun, Z., et al.: PASA finger: a novel parallel and self-adaptive underactuated finger with pinching and enveloping grasp. In: IEEE International Conference on Robotics and Biomimetics. IEEE (2015)
  11.Li, G., Liu, H., Zhang, W.: Development of multi-fingered robotic hand with coupled and directly self-adaptive grasp. Int J. Humanoid Robot. 9(4), 1–18 (2012)CrossRef
  12.Stark, M.: Artificial hand. US Patent, US7655051 (2010)
  13.Shin, Y., Rew, K., Kim, R., et al.: Development of anthropomorphic robot hand with dual-mode twisting actuation and electromagnetic joint locking mechanism. In: IEEE International Confernce on Robotics and Automation (ICRA), pp. 2759–2764 (2013)
  14.Yang, Y., Zhang, W.: Bending self-locking pneumatic under-actuated robot finger device. CN Patent, CN103659825
  
• 作者单位：Jiuya Song (18)
  Wenzeng Zhang (18)
  
  18. Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China
  
• 丛书名：Social Robotics
• ISBN：978-3-319-47437-3
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9979

文摘

This paper proposes a novel spring-tendon self-adaptive underactuated hand, called JLST hand, which can perform simultaneous multi-joint locking grasp. A JLST hand is designed with three JLST fingers and 6 degrees of freedom (DOFs). The JLST hand has more stable grasp ability and a larger grasping force than the normal spring-tendon robot hand, because the JLST hand has simultaneous multi-joint locking mechanisms. The JLST finger uses one motor to realize grasping objects, releasing objects and locking joints. The spring-tendon mechanism is based on the spring force to grasp objects and using the motor to pull the tendon to release the object. The JLST finger also uses one motor pulling the tendon to release the object and spring force to grasp objects, but the difference is JLST finger also uses the motor to lock multi-joints. Once the motor is turning forward, the finger releases the object; once the motor is turning backward, the motor releases the tendon so that the finger will grasp; the blocker is going to lock the joint since the motor keeps turning backward. The calculation and simulation results show that the JLST hand has the high stability of grasp and is more powerful than the normal spring-tendon hand.