Back-drivable and Inherently Safe Mechanism for Artificial Finger
نویسنده
چکیده
This paper shows mechanisms for artificial finger based on a planetary gear system (PGS). Using the PGS as a transmitter provides an under-actuated system for driving three joints of a finger with back-drivability that is crucial characteristics for fingers as an end-effector when it interacts with external environment. This paper also shows the artificial finger employed with the originally developed mechanism called “double planetary gear system” (DPGS). The DPGS provides not only back-drivable and under-actuated flexion-extension of the three joints of a finger, which is identical to the former, but also adduction-abduction of the MP joint. Both of the above finger mechanisms are inherently safe due to being back-drivable with no electric device or sensor in the finger part. They are also rigorously solvable in kinematics and kinetics as shown in this paper.
منابع مشابه
Mechatronic Hand Design with Integrated Mechanism in Palm for Efficiency Improve of the Finger.
One of the most important case in humanoid robot designing is hand, which it consider as an country development. High percentage of robot work quality depend on hand capability. A robot function increase with hand movement. One of important movement in artificial hand capability relate to fingers lateral movement. This case has more effect intake of special objects such as round shape or moving...
متن کاملNon-back-drivable rotary mechanism with intrinsic compliance for robotic thumb abduction/adduction
متن کامل
Optimization of fuzzy controller for an SMA-actuated artificial finger robot
The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...
متن کاملComparison of Artificial Neural Network and Multiple Regression Analysis for Prediction of Fat Tail Weight of Sheep
A comparative study of artificial neural network (ANN) and multiple regression is made to predict the fat tail weight of Balouchi sheep from birth, weaning and finishing weights. A multilayer feed forward network with back propagation of error learning mechanism was used to predict the sheep body weight. The data (69 records) were randomly divided into two subsets. The first subset is the train...
متن کاملSegmentation Assisted Object Distinction for Direct Volume Rendering
Ray Casting is a direct volume rendering technique for visualizing 3D arrays of sampled data. It has vital applications in medical and biological imaging. Nevertheless, it is inherently open to cluttered classification results. It suffers from overlapping transfer function values and lacks a sufficiently powerful voxel parsing mechanism for object distinction. In this work, we are proposing an ...
متن کامل