Construction of A Robot Hand System with A Thumb Based on the Concept of Opposition

基于对立概念的拇指机械手系统构建

基本信息

批准号：
07650514
负责人：
YAMADA Yoji
金额：
$ 1.47万
依托单位：
Toyota Technological Institute
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

项目摘要

This study aims at constructing a robot hand system with a thumb which realizes in a wide motion range finger-or palm-opposition depending on the task given. At the design stage, we determine the hand to have a radially symmetrical configuration for grasping objects in various shapes, while the configuration is inferior in the sense that a human-like robot hand is advantageous in teaching operation because of the similarity. We also considered it important that each finger has a compliant covering to make an areal contact with an object since such a convering improves the opposition performance expecting a wide motion space in which the hand behaves opposition-based grasping. We also designed an advanced tactile sensor, called dynamic tactile sensor (DTS) each element of which has both 3-axis force and slip vibration sensing functions, for localizing an object in the covering and monitoring the areal contact state.In the hardware of the system, we manufactured 7 elements of DTS arranged on the surface of a urethan-based covering, with each element being isolated. Because of the remarkable sensing noise from the DTS,we could not utilize the practical sensor information. However in the software, we studied further on formulating localization algorithms using FEM as well as grasp stability assesment algorithms using a potential function originated in the elastic covering. Finally, we evaluated thier effectiveness and verified those computation in a real-time manner.

这项研究旨在用拇指构建机器人手系统，该机器人手指在宽阔的运动范围或棕榈孔中，具体取决于给定的任务。在设计阶段，我们确定手具有径向对称的配置，以在各种形状中抓住对象，而配置在某种意义上是劣等的，因为人类般的机器人手在教学操作方面具有优势，因为相似性。我们还认为，每个手指都有一个合规的覆盖物以与物体进行面部接触，这很重要，因为这种转化会改善对手性能，期望手动表现为基于对立的握把的广泛运动空间。我们还设计了一个先进的触觉传感器，称为动态触觉传感器（DTS）每个元素既具有3轴力和滑动振动传感功能，供您将对象定位在覆盖和监视系统的硬件中。在系统的硬件中，我们制造了在基于Urethan的覆盖范围的DT的7个元素。由于DTS具有显着的传感噪声，我们无法利用实用的传感器信息。但是，在该软件中，我们进一步研究了使用FEM制定定位算法以及使用潜在函数源于弹性覆盖的潜在函数的掌握稳定性评估算法。最后，我们评估了您的有效性，并以实时方式验证了这些计算。