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Antagonistically Driven Finger Design for the Anthropomorphic DLR Hand Arm System

Grebenstein, Markus und Chalon, Maxime und Hirzinger, Gerd und Siegwart, Roland (2010) Antagonistically Driven Finger Design for the Anthropomorphic DLR Hand Arm System. HUMANOIDS 2010, 6.-8.12.2010, Nashville, USA.

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The DLR Hand Arm System is a highly dynamic and fully integrated mechatronic system which uses an anthropomor- phic design. It exhibits impressive robustness by using a complete variable stiffness actuation paradigm. It aims at reaching the human archetype in most of its performances and its design. The methodology consists in understanding the human archetype on a functional basis rather than to copy it. However, the design is driven by two antipodal concepts: On one hand, the design has to be simple, robust, and easy to maintain. On the other hand it must be anthropomorphic in shape and size but also, more importantly, in functionality. The paper presents a finger design that combines a reduced diversity of parts with the need to build five kinematically different fingers. The fingers are protected against overload by allowing subluxation of the joints. The tendon routing allows for an antagonistic actuation and is optimized to minimize friction and wear. The resulting combination of the link design and the antagonistic actuation is shown to be robust against impacts as well as highly dynamic. They achieve the targeted maximum fingertip force of 30 N in stretched out configuration. The use of antagonistic drives enables to tackle problems of tendon overstretching and slackening that commonly encounter in tendon driven mechanisms. Due to the enhanced capabilities and, inespecial, its robustness, the application developers can focus on the use of innovative grasping and manipulation strategies instead of worrying about the integrity of a costly robotic systems. The possibility of storing energy in the elastic elements of the drive opens new opportunities to perform dynamics based actions (e.g. snapping fingers).

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:Antagonistically Driven Finger Design for the Anthropomorphic DLR Hand Arm System
AutorenInstitution oder E-Mail-Adresse der Autoren
Grebenstein, MarkusDLR RM-MS
Chalon, MaximeDLR RM-MS
Hirzinger, GerdDLR RM
Siegwart, RolandETHZ ASL
Datum:Dezember 2010
Stichwörter:Roboterhand, Finger, Design, anthropomorph, antagonistisch
Veranstaltungstitel:HUMANOIDS 2010
Veranstaltungsort:Nashville, USA
Veranstaltungsart:internationale Konferenz
Veranstalter :IEEE
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Vorhaben DLR-4-Finger-Hand III (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Dr. sc. Markus Grebenstein
Hinterlegt am:11 Jan 2011 10:00
Letzte Änderung:11 Jan 2011 10:00

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