Optimal Anthropomorphic Robot Hand
In the field of anthropomorphic robot hand design, numerous factors come into play that impact its overall performance. One crucial consideration was the number of actuators and tendons utilized in the design. This aspect holds significant influence over various aspects such as dexterity, manufacturing cost, weight, volume, and control complexity.
When it comes to designing an anthropomorphic robot hand capable of intricate and precise movements, the number of actuators plays a crucial role. Actuators act as the driving force behind the finger joints, allowing for a wide range of motions and grasping capabilities. However, a higher number of actuators may contribute to increased manufacturing costs, added weight and volume, and elevated control complexity.
One of the primary objectives of the current project was to minimize the number of actuators required while simultaneously maximizing the manipulability and versatility of the anthropomorphic robot hand. This approach seeks to find an optimal balance between the number of actuators employed and the dexterity achieved. By doing so, the design aimed to create a highly functional robotic hand that is efficient, cost-effective, and easy to control.
Moreover, it is crucial to develop a robust and resilient mechanism capable of withstanding sudden impacts or external forces. This ensures that the anthropomorphic robot hand can operate reliably in real-world scenarios without compromising its functionality or structural integrity. Careful considerations must be taken to select materials, implement protective measures, and incorporate shock-absorbing elements within the design.
The ongoing efforts in the field of anthropomorphic robot hand design not only hold great potential for robotic applications but also offer valuable insights into human hand biomechanics. By emulating the intricate mechanics and capabilities of the human hand, researchers and engineers strive to create robotic hands that can effectively interact with objects and perform complex tasks with precision and finesse.
Targets
- The number of actuators that covers more than the frequency of 80% listed in the grasp taxonomies with considering to the actuation system (ex, Antagonistic or coupled joints, tendon connection),
- Methodology of analysis.
Members
- Wooseok Choi (Lead),
- Hideaki TAKAHASHI.
Achievements
When it comes to designing joint mechanisms, there are various aspects to consider. One approach is to focus on the tendon route, which can provide flexibility and enable efficient movement. By carefully designing and integrating tendons into the joint mechanism, it could be able to create a system that mimics the natural function of tendons in the finger joint. This can potentially enhance the joint’s range of motion and overall performance.
Another consideration is the design of a spring joint that is capable of absorbing impact. A spring joint can provide a cushioning effect, reducing the stress and strain on the joint when sudden forces or impacts are applied. This can be particularly useful in scenarios where the joint needs to withstand external forces, such as in sports equipment or robotic applications. By incorporating a spring mechanism into the joint design, it can help mitigate the risk of damage or injury caused by excessive impacts.
In conclusion, when designing joint mechanisms, focusing on the tendon route and incorporating a spring joint for impact absorption can contribute to creating more robust and versatile joint mechanism. The careful consideration of these design elements can enhance the overall performance and longevity of the joint, ensuring optimal functionality in various applications.
Images will be presenting soon.
Refereces
- Link Mechanism and end-effector, Honda Ref. No: H1210193JP01, Inventor: Wooseok Choi,
- Robot hand, Honda Ref. No: H1210194JP01, Inventor: Wooseok Choi.
