A study on design of three - finger hand system

The focus of this paper is to design a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible moti...

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Bibliographic Details
Published in2008 International Conference on Control, Automation and Systems pp. 2390 - 2393
Main Authors Nguyen, V.-Q., Se-Bong Oh, Jea-Uk Lim, Chang-Hak Kang, Sung-Hyun Han
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2008
Subjects
Control systems
Deductive databases
Fingers
Flexibility
Flexible Hand System
Focusing
Grasping
Image databases
Image recognition
Intelligent robots
Manipulator dynamics
Motion control
Three - Finger
Wide Working Space
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Summary:The focus of this paper is to design a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.
ISBN:8995003898
9788995003893
DOI:10.1109/ICCAS.2008.4694206