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4 자유도 새로운 소프트 핑거 설계

Title
4 자유도 새로운 소프트 핑거 설계
Other Titles
Design of a new 4-DOF soft finger mechanism
Author
이병주
Keywords
Soft Finger; Safety; Flexible mechanism
Issue Date
2008-12
Publisher
한국로봇학회
Citation
로봇학회논문지, v. 3, No. 4, Page. 315-322
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 cross-sectional 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.
URI
http://db.koreascholar.com/Article?code=1030http://repository.hanyang.ac.kr/handle/20.500.11754/105212
ISSN
2287-3961
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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