TY - GEN
T1 - A novel underactuated robotic finger for withstanding impacts of non-cooperative object capture
AU - Wang, Qingchuan
AU - Liu, Guangjun
AU - Quan, Qiquan
AU - Deng, Zongquan
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - An underactuated robotic finger is proposed and studied for capturing non-cooperative objects, featuring an underactuated rigid-mechanism that can brake residual motion of non-cooperative targets. The finger consists of three joints driven by two actuators, and a set of one-input-two-output planetary gears is introduced to realize force transmission by using the ring gear and the planetary carrier to drive the two joints. The rotation of the ring gear and the planetary carrier are governed jointly by the inputs and the external force. In the process of capturing a moving target, the proposed robotic finger can effectively limit the impact force peak due to collision with the target. Moreover, the recovery time of the joint can be adjusted by changing the input torque of the motor, which can be set to achieve optimal recovery process for different tasks. A prototype has been built to study the proposed design of the robotic finger, and experimental results have confirmed its desirable characteristics.
AB - An underactuated robotic finger is proposed and studied for capturing non-cooperative objects, featuring an underactuated rigid-mechanism that can brake residual motion of non-cooperative targets. The finger consists of three joints driven by two actuators, and a set of one-input-two-output planetary gears is introduced to realize force transmission by using the ring gear and the planetary carrier to drive the two joints. The rotation of the ring gear and the planetary carrier are governed jointly by the inputs and the external force. In the process of capturing a moving target, the proposed robotic finger can effectively limit the impact force peak due to collision with the target. Moreover, the recovery time of the joint can be adjusted by changing the input torque of the motor, which can be set to achieve optimal recovery process for different tasks. A prototype has been built to study the proposed design of the robotic finger, and experimental results have confirmed its desirable characteristics.
KW - Noncooperative object
KW - Planetary gears
KW - Robotic capture
KW - Robotic finger
KW - Underactuated mechanism
UR - https://www.scopus.com/pages/publications/84938230515
U2 - 10.1109/ICRA.2015.7139798
DO - 10.1109/ICRA.2015.7139798
M3 - 会议稿件
AN - SCOPUS:84938230515
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4341
EP - 4346
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -