파지 안정성 및 구동효율 향상을 고려한 로봇그리퍼의 기구적 설계 및 검증

Abstract

In this paper, a service robot gripper is presented which has a miniaturized fingertip pressure sensor. The pressure sensor is flexible enough to control object; the design of the robot gripper made up of a thumb and two fingers is proposed. The conventional robot gripper is that the metacarpal finger is consist of two joint. This gripper mechanism is specially designed for getting the DOF which consist of three joint. The grasp algorithm is applied to the study of a control problem where the gripper has ? command for gripping an object. The usefulness of the pressure sensors are verified by experiment, Each factor that can maximize contact stability by using manipulability ellipsoid and attempts to develop the gripper of home service robot, which can contact cylinder object safely without damage by using a pressure sensor in which structure is simple, lightweight is considered, and tactile is felt.