Towards higher load capacity: innovative design of a robotic hand with soft jointed structure.

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Bioinspiration & Biomimetics Pub Date : 2024-08-29 DOI:10.1088/1748-3190/ad7005

Ming Guan, Chenxi Qu, Liang Yang, Jiliang Lv, Fenglei Li

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引用次数: 0

Abstract

In this paper, the innovative design of a robotic hand with soft jointed structure is carried out and a tendon-driven mechanism, a master-slave motor coordinated drive mechanism, a thumb coupling transmission mechanism and a thumb steering mechanism are proposed. These innovative designs allow for more effective actuation in each finger, enhancing the load capacity of the robotic hand while maintaining key performance indicators such as dexterity and adaptability. A mechanical model of the robotic finger was made to determine the application limitations and load capacity. The robotic hand was then prototyped for a set of experiments. The experimental results showed that the proposed theoretical model were reliable. Also, the fingertip force of the robotic finger could reach up to 10.3 N, and the load force could reach up to 72.8 N. When grasping target objects of different sizes and shapes, the robotic hand was able to perform the various power grasping and precision grasping in the Cutkosky taxonomy. Moreover, the robotic hand had good flexibility and adaptability by means of adjusting the envelope state autonomously.

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实现更高的负载能力：软关节结构机器人手的创新设计。

本文对具有软关节结构的机械手进行了创新设计，提出了肌腱驱动机构、主从电机协调驱动机构、拇指耦合传动机构和拇指转向机构。这些创新设计使每个手指都能更有效地驱动，增强了机械手的负载能力，同时保持了灵巧性和适应性等关键性能指标。我们制作了机械手指的机械模型，以确定应用限制和负载能力。然后制作了机械手原型，进行了一系列实验。实验结果表明，所提出的理论模型是可靠的。同时，机械手的指尖力可达 10.3N，负载力可达 72.8N。在抓取不同大小和形状的目标物体时，机械手能够完成 Cutkosky 分类法中的各种力量抓取和精确抓取。此外，机械手还具有良好的灵活性和适应性，可以自主调整包络状态。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.