Design of an underactuated robot hand based on displacement-force conversion mechanism

Hun Keon Ko; Chang Hee Cho; Hyo Chan Kwon; Kwon Hee Kim

doi:10.1007/s12541-012-0066-7

Design of an underactuated robot hand based on displacement-force conversion mechanism

Hun Keon Ko, Chang Hee Cho, Hyo Chan Kwon, Kwon Hee Kim

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

This work presents a study on the development of an underactuated robot hand. The hand consists of three fingers operated by a single actuator through a triangular joint that provides approximately equal grasp force and compliance among them. A displacement-force conversion mechanism with the spring and feed drive was developed to actuate the fingers. With this mechanism the grasp force can be controlled easily based on the rotary displacement of the actuator. A mathematical model of the contact force was presented and verified by measurement of the fingertip force. The grasp compliance was validated by tests with a variety of objects.

Original language	English
Pages (from-to)	509-516
Number of pages	8
Journal	International Journal of Precision Engineering and Manufacturing
Volume	13
Issue number	4
DOIs	https://doi.org/10.1007/s12541-012-0066-7
Publication status	Published - 2012 Apr

Keywords

Compliance
Fingertip force
Grasping
Robot hand
Underactuated finger

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1007/s12541-012-0066-7

Cite this

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abstract = "This work presents a study on the development of an underactuated robot hand. The hand consists of three fingers operated by a single actuator through a triangular joint that provides approximately equal grasp force and compliance among them. A displacement-force conversion mechanism with the spring and feed drive was developed to actuate the fingers. With this mechanism the grasp force can be controlled easily based on the rotary displacement of the actuator. A mathematical model of the contact force was presented and verified by measurement of the fingertip force. The grasp compliance was validated by tests with a variety of objects.",

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AU - Cho, Chang Hee

AU - Kwon, Hyo Chan

AU - Kim, Kwon Hee

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N2 - This work presents a study on the development of an underactuated robot hand. The hand consists of three fingers operated by a single actuator through a triangular joint that provides approximately equal grasp force and compliance among them. A displacement-force conversion mechanism with the spring and feed drive was developed to actuate the fingers. With this mechanism the grasp force can be controlled easily based on the rotary displacement of the actuator. A mathematical model of the contact force was presented and verified by measurement of the fingertip force. The grasp compliance was validated by tests with a variety of objects.

AB - This work presents a study on the development of an underactuated robot hand. The hand consists of three fingers operated by a single actuator through a triangular joint that provides approximately equal grasp force and compliance among them. A displacement-force conversion mechanism with the spring and feed drive was developed to actuate the fingers. With this mechanism the grasp force can be controlled easily based on the rotary displacement of the actuator. A mathematical model of the contact force was presented and verified by measurement of the fingertip force. The grasp compliance was validated by tests with a variety of objects.

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KW - Underactuated finger

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Design of an underactuated robot hand based on displacement-force conversion mechanism

Abstract

Keywords

ASJC Scopus subject areas

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