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- 저자 : Le Xuan Thu(레수안토우) (검색결과 1 건)
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Design of Three-Finger Hand System
Le Xuan Thu(레수안토우),Sung-Hyun Han(한성현) 한국생산제조학회 2008 한국생산제조학회지 Vol.17 No.6
The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 ㎏, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.
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