Structure Design and Research of Humanoid Hand based on the Micro Motor Driven
In order to realize the integration,intelligent,and lightweight of the humanoid hand,by using the micro motor with the rope combination of turbine disk drive way,the model of finger is made by 3D printer and the hand size is 1: 1,total weight is 300 g. Worm gear combined with rope drive mode is adop...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.01.014 |
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| _version_ | 1841548751314878464 |
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| author | Kou Xiaochen Zhang Lei Guo Shaofei |
| author_facet | Kou Xiaochen Zhang Lei Guo Shaofei |
| author_sort | Kou Xiaochen |
| collection | DOAJ |
| description | In order to realize the integration,intelligent,and lightweight of the humanoid hand,by using the micro motor with the rope combination of turbine disk drive way,the model of finger is made by 3D printer and the hand size is 1: 1,total weight is 300 g. Worm gear combined with rope drive mode is adopted to realize the humanoid hand has larger output force and high safety under the small volume. By reverse winding of elastic rope and drive rope with worm gear plate,the resistance is reduced in the process of driving,the effective output force of finger is improved. Then,the adaptive grasping of humanoid hand is studied,and the results show that,the humanoid hand can effectively realize the size of the object and output the expected force,and realize stabilize grapping by using the joint control method of bending sensor and pressure sensor. |
| format | Article |
| id | doaj-art-e453847225ed4bc0a8dd4cbe8ad80e61 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-e453847225ed4bc0a8dd4cbe8ad80e612025-01-10T14:02:27ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-0143646829940238Structure Design and Research of Humanoid Hand based on the Micro Motor DrivenKou XiaochenZhang LeiGuo ShaofeiIn order to realize the integration,intelligent,and lightweight of the humanoid hand,by using the micro motor with the rope combination of turbine disk drive way,the model of finger is made by 3D printer and the hand size is 1: 1,total weight is 300 g. Worm gear combined with rope drive mode is adopted to realize the humanoid hand has larger output force and high safety under the small volume. By reverse winding of elastic rope and drive rope with worm gear plate,the resistance is reduced in the process of driving,the effective output force of finger is improved. Then,the adaptive grasping of humanoid hand is studied,and the results show that,the humanoid hand can effectively realize the size of the object and output the expected force,and realize stabilize grapping by using the joint control method of bending sensor and pressure sensor.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.01.014Micro motorWorm gear plateBend sensorPressure sensorAdaptive grabbing |
| spellingShingle | Kou Xiaochen Zhang Lei Guo Shaofei Structure Design and Research of Humanoid Hand based on the Micro Motor Driven Jixie chuandong Micro motor Worm gear plate Bend sensor Pressure sensor Adaptive grabbing |
| title | Structure Design and Research of Humanoid Hand based on the Micro Motor Driven |
| title_full | Structure Design and Research of Humanoid Hand based on the Micro Motor Driven |
| title_fullStr | Structure Design and Research of Humanoid Hand based on the Micro Motor Driven |
| title_full_unstemmed | Structure Design and Research of Humanoid Hand based on the Micro Motor Driven |
| title_short | Structure Design and Research of Humanoid Hand based on the Micro Motor Driven |
| title_sort | structure design and research of humanoid hand based on the micro motor driven |
| topic | Micro motor Worm gear plate Bend sensor Pressure sensor Adaptive grabbing |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.01.014 |
| work_keys_str_mv | AT kouxiaochen structuredesignandresearchofhumanoidhandbasedonthemicromotordriven AT zhanglei structuredesignandresearchofhumanoidhandbasedonthemicromotordriven AT guoshaofei structuredesignandresearchofhumanoidhandbasedonthemicromotordriven |