DESIGN OF A NOVEL DEXTEROUS ROBOT HAND  

作　　者：JiangLi LiuHong XieZongwu JinMinghe GaoXiaohui HirzingerG 

机构地区：[1]RobotResearchInstitute,HarbinInstituteofTechnology,Harbin150001,China [2]Instituteofroboticsandmechatronics,GermanAerospaceCenter,Wessling82230,Germany

出　　处：《Chinese Journal of Mechanical Engineering》2004年第3期360-363,共4页中国机械工程学报（英文版）

摘　　要：In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is jointly developed. The prototype of the hand issuccessfully built. It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFsand 4 joints, the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. Italso has an additional DOF to realize motion of the thumb relative to the palm. The fingertip forcecan reach up to 10 N. Full integration of mechanical body, actuation system, multisensory system andelectronics is a significant feature. DSP based control system is implemented in PCI busarchitecture and the serial communication between the hand and DSP needs only 2 lines.In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is jointly developed. The prototype of the hand issuccessfully built. It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFsand 4 joints, the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. Italso has an additional DOF to realize motion of the thumb relative to the palm. The fingertip forcecan reach up to 10 N. Full integration of mechanical body, actuation system, multisensory system andelectronics is a significant feature. DSP based control system is implemented in PCI busarchitecture and the serial communication between the hand and DSP needs only 2 lines.

关 键 词：Dexterous robot hand MULTISENSORY INTEGRATION Serial communication 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]