Publication

Hanyang University HumanRobotics Lab

Domestic Journal
4 자유도 새로운 소프트 핑거 설계
Journal
로봇공학회논문지
Vol
Vol. 3, No. 4
Page
pp. 315-322
Author
차효정, 이병주
Year
2008
Date
2008
File
4 자유도 새로운 소프트 핑거 설계.pdf (1.6M) 0회 다운로드 DATE : 2020-10-16 22:21:52
Abstract: A new soft finger mechanism using a spring as a backbone is proposed in this work. It is a 4 DOF mechanism that consists of a spring and 3 cylinders, which behave like joints with 3 up-and-down rotations and 1 left-and-right rotation. To control each joint, cylinders have small holes in their crosssectional areas, and wires of different length are penetrated into these holes. We can control each joint by pulling the corresponding wire. The forward kinematics is solved by using the geometry of mechanism. And the relationship (Jacobian) between the linear velocity of the wires and the joint angular rate is obtained. A virtual simulator is developed to test the validity of the kinematic model. In the experiment, first, the position control is conducted by tracking a given trajectory. Second, to verify the flexibility and safety, we show that the soft finger deflects in a safe manner, in spite of the collision with environment.