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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.3 No.4 pp.315-322

4자유도 새로운 소프트 핑거 설계

차 효 정1, 이 병 주2

Design of a new 4-DOF soft finger mechanism

Hyo-Jung1 Cha, Yi Byung-Ju2


A new soft finger mechanism using a spring as a backbone is proposed in this work. It is a 4DOF mechanism that consists of a spring and 3 cylinders, which behave like joints with 3 up-and-downrotations and 1 left-and-right rotation. To control each joint, cylinders have small holes in their crosssectionalareas, and wires of different length are penetrated into these holes. We can control each jointby pulling the corresponding wire. The forward kinematics is solved by using the geometry ofmechanism. And the relationship (Jacobian) between the linear velocity of the wires and the jointangular rate is obtained. A virtual simulator is developed to test the validity of the kinematic model. Inthe experiment, first, the position control is conducted by tracking a given trajectory. Second, to verifythe flexibility and safety, we show that the soft finger deflects in a safe manner, in spite of the collisionwith environment.


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