The Artificial Hand with Elastic Fingers for Humanoid Robot ROMAN

Krzysztof Mianowski

Abstract

The original design of multifingered gripper in the shape of human hand with flexible fingers dedicated for humanoid robot ROMAN is presented in the paper. The design work was concentated on ensuring that the hand can contact with a variety of different shape objects made of flexible materials of different properties as well as fragile objects requiring particular caution when manipulated. Additionally it was assumed that the gripper should ensure a satisfactory reliabilty level, required high functionality and easy maintenance. The project was based on the assumptions, that the final solution should characterized by high versatility, good adaptability and good robustness. Design methods and prototyping of a robotic hand is presented in the paper in details. In the real solution of the model, the plastic and composite materials were applied. In control systems, PIC controllers and PC computers have been used.
Author Krzysztof Mianowski (FPAE / IAAM)
Krzysztof Mianowski,,
- The Institute of Aeronautics and Applied Mechanics
Pages1-11
Publication size in sheets0.5
Book Proceedings 18th International Conference on Methods and Models in Automation and Robotics, 2013, IEEE Catalog Number: CFP13MMA-CDR, ISBN 978-1-4673-5506-3
Keywords in Englishgrasping, grippers, kinematics, robots, sensors, thumb
Abstract in Polishpublikacja w formie elektronicznej W pracy przedstawiono oryginalne rozwiązanie chwytaka wielopalczastego z podatnym napędem typu sztuczna dłoń dla robota humanoidalnego ROMAN. Chwytak jest przeznaczony do manipulacji różnorodnymi obiektami zarówno sztywnymi jak i z materiałów podatnych oraz bardzo delikatnymi. W pracy przedstawiono projekt i prototyp chwytaka wykonany z plastiku ABS metodą szybkiego prototypowania. W systemie sterowania zastosowano sterowniki typu PIC, oraz komputer typu PC
DOIDOI:10.1109/MMAR.2013.6669950
URL https://doi.org/10.1109/MMAR.2013.6669950
Languageen angielski
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 10.0, 08-01-2020, BookChapterMatConfByConferenceseries
Ministerial score (2013-2016) = 15.0, 08-01-2020, BookChapterMatConfByConferenceseries
Publication indicators WoS Citations = 0
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