機(jī)械手外文翻譯--機(jī)械手的機(jī)械和控制系統(tǒng)(英文）

1、Proceedings of the IEEE-RAS International Conference on Humanoid Robots Copyright ? 2001Mechanical System and Control System of a Dexterous Robot HandDirk Osswald, Heinz WörnUniversity of Karlsruhe Department of Com

2、puter Science Institute for Process Control and Robotics (IPR) Engler-Bunte-Ring 8 - Building 40.28 D-76131 Karlsruhe email: osswald@ira.uka.de , woern@ira.uka.deAbstract: In recent years numerous robot systems with m

3、ultifingered grippers or hands have been developed all around the world. Many different approaches have been taken, anthropomorphic and non-anthropomorphic ones. Not only the mechanical structure of such systems was inve

4、stigated, but also the necessary control system. With the human hand as an exemplar, such robot systems use their hands to grasp diverse objects without the need to change the gripper. The special kinematic abilities of

5、such a robot hand, like small masses and inertia, make even complex manipulations and very fine manipulations of a grasped object within the own workspace of the hand possible. Such complex manipulations are for example

6、regrasping operations needed for the rotation of a grasped object around arbitrary angles and axis without depositing the object and picking it up again. In this paper an overview on the design of such robot hands in gen

7、eral is given, as well as a presentation of an example of such a robot hand, the Karlsruhe Dexterous Hand II. The paper then ends with the presentation of some new ideas which will be used to build an entire new robot ha

8、nd for a humanoid robot using fluidic actuators. Keywords: Multifingered gripper, robot hand, fine manipulation, mechanical system, control system1 IntroductionThe special research area 'Humanoid Robots' founded

9、 in Karlsruhe, Germany in July 2001 is aimed at the development of a robot system which cooperates and interacts physically with human beings in 'normal' environments like kitchen or living rooms. Such a robot sy

10、stem which is designed to support humans in non-specialized, non-industrial surroundings like these must, among many other things, be able to grasp objects of different size, shape and weight. And it must also be able to

11、 fine-manipulate a grasped object. Such great flexibility can only be reached with an adaptable robot gripper system, a so called multifingered gripper or robot hand. The humanoid robot, which will be built in the above

12、mentioned research project, will be equippedwith such a robot hand system. This new hand will be built by the cooperation of two institutes, the IPR (Institute for Process Control and Robotics) at the University of Karls

13、ruhe and the IAI (Institute for Applied Computer Science) at the Karlsruhe Research Center. Both organizations already have experience in building such kind of systems, but from slightly different points of view. The 

14、9;Karlsruhe Dexterous Hand II' (see figure 1) built at the IPR, which is described here in detail, is a four fingered autonomous gripper. The hands built at the IAI (see figure 17) are built as prosthesis for handica

15、pped people. The approach taken so far will be presented and discussed in the following sections, as it founds the basis for the novel hand of the humanoid robot.Figure 1: Karlsruhe Dextrous Hand II from IPRProceedings o

16、f the IEEE-RAS International Conference on Humanoid Robots Copyright ? 2001? Grasp state sensors provide information about the contact situation between the finger and the object. This tactile information can be used to

17、determine the point in time of the first contact with the object while grasping, and to avoid undesired grasps, like grasping at an edge or a tip of the object. But it can also be used to detect slippage of an already gr

18、asped object, which might lead to a loss of the object.? Object state or pose sensors are used to determine the shape, position and orientation of an object in the workspace of the gripper. This is necessary if these dat

19、a is not known exactly, prior to grasping the object. If the object state sensors still works on a grasped object it can be used to control the pose (position and orientation) of a grasped object too, e.g. to detect slip

20、page.Depending on the actuator system the geometrical information about the finger joint position can be measured at the movement generator or directly at the joint. For example if there is a stiff coupling between an el

21、ectric motor and the finger joint then the joint position can be measured by an angle encoder at the axis of the motor (before or after the gear). This is not possible if the coupling is less stiff and a high position p

22、recision is desired.3.4 The mechanical system of the Karlsruhe Dexterous Hand IIIn order to permit more complex manipulations like regrasping the current Karlsruhe Dexterous Hand II (KDH II) was built with 4 fingers and

23、 3 independent joints per finger. It is designated for applications in industrial environments (see figure 2) and for manipulation of objects like boxes, cylinders, screws or nuts. Therefore a symmetric, non-anthropomorp

24、hic configuration of four identical fingers, each rotated by 90° was chosen (see figure 3). Due to the experiences gained with the first Karlsruhe Dexterous Hand, like e.g. mechanical problems caused by the drive be

25、lts or controlling problems caused by large friction factors, some different design decisions were chosen for the KDH II. The dc-motors for joint 2 and 3 of each finger are integrated into the previous finger limb (see f

26、igure 4). This permits the use of very stiff ball-spindle-gears for the forwarding of the movement to the finger joint. Angle encoders directly on the motor axis (before the gear) are used as very precise position state