다관절 손 기구의 설계 및 제어에 관한 연구A Study on the Design and Control of an Articulated Hand

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In many applications, the typical parallel-jaw end-effector of a robot arm has been remarkably satisfactory. But it is not adequate for the applications such as complicated manipulation. Therefore, the developement of a hand with dexterity is necessary. In this study, a finger with 4 joints (so, having redundancy) was constructed to investigate the characteristics of an articulated hand. Each joint was driven by one actuator, and the motor torque was transmited to each joint through a tendon-pulley system. in the context, major considerations for hardware design and the method to solve the inverse kinematics of a redundant manipulator were presented. Finally, the basic capabilities of an articulated hand were presented through experiments.
Publisher
한국정밀공학회
Issue Date
1993-12
Language
Korean
Citation

한국정밀공학회지, v.10, no.4, pp.200 - 205

ISSN
1225-9071
URI
http://hdl.handle.net/10203/24403
Appears in Collection
ME-Journal Papers(저널논문)
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