Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 10 Issue 4
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- Pages.200-205
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- 1993
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
A study on the design and control of an articulated hand
다관절 손 기구의 설계 및 제어에 관한 연구
- Kim, Cheol-Woo ;
- Gweon, Dae-Gab
- 김철우 (한국과학기술원(정밀공학과)) ;
- 권대갑 (한국과학기술원(정밀공학과))
- Published : 1993.12.01
Abstract
In many applications, the typical parallel-jaw end-effector of a robot arm has been remarkably satisfactory. But, it is not adequate for the applications such as complicated manipulation. In the study, a finger with 4 joints (so, having redundancy) was consturcted to investigate the characteristics of an articulated hand. Each joint was driven by one actuator, and the motor torque was transmited to each joint through a tendon-pulley system. In the context, major considerations for hardware design and the method to solve the inverse kinematics of a redundant manipulator were presented. Finally, the basic capabilities of an articulated hand were presented through experiments.