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”FRCEF: The New Friction Reduced and Coupling Enhanced Finger for the Awiwi hand ”

Friedl, Werner and Chalon, Maxime and Reinecke, Jens and Grebenstein, Markus (2015) ”FRCEF: The New Friction Reduced and Coupling Enhanced Finger for the Awiwi hand ”. In: IEEE-RAS International Conference on Humanoid Robots, CFP15H, pp. 140-147. IEEE. 15th IEEE RAS Humanoids Conference, 03.-05. Nov. 2015, Seoul, Süd Korea. ISBN 978-1-4799-6884-8

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Abstract

The combination of tendon driven robotic fingers and variable impedance actuation in the DLR hand arm system brings benefits in robustness and dynamics by enabling energy storage. Since the force measurement and motors are in the forearm the tendon path should have low friction for accurate movements and precise finger control. In this paper an enhanced generation of the Awiwi hand finger design is presented. It reduces the friction in the actuation system about 20 percent and increases the maximum fingertip force about 33 percent. A test finger was designed to evaluate different tendon couplings and to test a magnetic sensor to measure the joint position. In a next step a new finger design for DLR hand arm system has been developed. Finally, the low friction and the robustness are proven using several experiments.

Item URL in elib:https://elib.dlr.de/100496/
Document Type:Conference or Workshop Item (Other)
Title:”FRCEF: The New Friction Reduced and Coupling Enhanced Finger for the Awiwi hand ”
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Chalon, Maximemaxime.chalon (at) dlr.deUNSPECIFIED
Reinecke, Jensjens.reinecke (at) dlr.deUNSPECIFIED
Grebenstein, Markusmarkus.grebenstein (at) dlr.deUNSPECIFIED
Date:5 November 2015
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:CFP15H
Page Range:pp. 140-147
Publisher:IEEE
ISBN:978-1-4799-6884-8
Status:Published
Keywords:Robot Hand, friction, position sensor
Event Title:15th IEEE RAS Humanoids Conference
Event Location:Seoul, Süd Korea
Event Type:international Conference
Event Dates:03.-05. Nov. 2015
Organizer:KIST, Seoul
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Friedl, Werner
Deposited On:04 Dec 2015 15:50
Last Modified:31 Jul 2019 19:57

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