面向远程呈现机器人的开源拟人机器人手指设计

Proceedings of the 2021 4th International Conference on Robot Systems and Applications Pub Date : 2021-04-09 DOI:10.1145/3467691.3467704

Jittaboon Trichada, Traithep Wimonrut, Narongsak Tirasuntarakul, Thanacha Choopojcharoen, Bawornsak Sakulkueakulsuk

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引用次数: 0

摘要

本文重点研究了一种拟人机器人手指的设计与实现，该手指是为远程操作系统设计的。这种开源的拟人化手指很容易用3D打印机和标准部件制造出来。手指有三个关节和两个主动自由度(dofs)， 2个伺服电机专用于手指运动。尺寸和重量都进行了优化，以实现类似人类的运动和附加反馈传感器的空间。提出了设计过程，用定量的方法对手指进行评价，包括四杆机构方程和运动学方程。

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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Design of an Open Source Anthropomorphic Robotic Finger for Telepresence Robot

This paper focuses on the design and implementation of an anthropomorphic robotic finger, that was designed for teleoperation systems. This open-source anthropomorphic finger is easy to fabricate with a 3D printer and standard parts. The finger has three joints and two active Degrees of Freedom (dofs) with 2 servo motors dedicated to finger motion. Size and weight have been optimized in order to achieve human-like movement and space for attached feedback sensors. This proposed the design process, evaluate the finger with quantitative measures, both equation of four-bar linkage mechanism and equation of kinematic.

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Proceedings of the 2021 4th International Conference on Robot Systems and Applications

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