Design of a new 4-DOF soft finger mechanism

4자유도 새로운 소프트 핑거 설계

  • 차효정 (한양대학교 전자전기제어계측과) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Published : 2008.11.28

Abstract

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

Acknowledgement

Supported by : 한국과학재단,경기도