4자유도 새로운 소프트 핑거 설계

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.