A Study on Flexible Control and Design of Robot Hand Fingers with Eight Axes for Smart Factory

다국어 초록 (Multilingual Abstract)

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise 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. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

목차 (Table of Contents)

• Abstract
• 1. INTRODUCTION
• 2. HAND FINGER SYSTEM DESIGN
• 3. FLEXIBLE CONTROL OF ROBOTIC HAND FINGERS
• 4. EXPERIMENT AND RESULTS
• 5. CONCLUSION
• References