Robot Finger with Remote Center of Motion Mechanism for Covering Joints with Thick Skin

Chincheng Hsu, Alexander Schmitz, Kosuke Kusayanagi, Shigeki Sugano

研究成果: Conference contribution

抜粋

An end-effector such as a gripper or multi-fingered hand is essential to enable robots to grasp and manipulate objects of various size and shape. Soft skin increases the grasp stability and can provide space for tactile sensors. However, covering the joints with skin is challenging, typically causing a considerable surface area of multi-segment robot fingers not to be covered by skin. This also creates the risk that objects get pinched in the joints when flexing the fingers. The current paper suggests using a remote center motion (RCM) mechanism to move the center of joint rotation to the surface of a thick skin layer. In particular, a 6-bar mechanism is used. Thereby, a thick soft skin layer with a continuous surface can be realized. Furthermore, adaptive joint coupling with linkages is implemented. In the current paper a 2-fingered gripper is realized, and objects of various size and shape are grasped (from thin paper to objects of 135 mm diameter). The current gripper was manufactured with 3D-printed material to enable rapid prototyping, therefore the payload was limited to only 1 kg for this version. Overall, this paper shows the feasibility of an RCM for a robot finger and discusses the benefits and limitations of such a mechanism.

元の言語English
ホスト出版物のタイトル2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
出版者Institute of Electrical and Electronics Engineers Inc.
ページ3172-3178
ページ数7
ISBN(電子版)9781728140049
DOI
出版物ステータスPublished - 2019 11
イベント2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
継続期間: 2019 11 32019 11 8

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
China
Macau
期間19/11/319/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

フィンガープリント Robot Finger with Remote Center of Motion Mechanism for Covering Joints with Thick Skin' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Hsu, C., Schmitz, A., Kusayanagi, K., & Sugano, S. (2019). Robot Finger with Remote Center of Motion Mechanism for Covering Joints with Thick Skin. : 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 3172-3178). [8968235] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8968235