Development of a Multi-fingered Robotic Hand with an Iris Mechanism

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  • アイリス多指ロボットハンドの開発

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<p>A multi-finger robotic hand with an iris mechanism that we previously developed was driven by a single actuator and could grasp an object by wrapping fingers completely around its circumference at multiple points. However, the blades used to grasp objects were within the robotic hand mechanism, so it could only grasp objects small enough to fit within the hollow disk comprising the outer surface of the device body. Furthermore, the hand could not grasp objects smaller than the thickness of the hollow disk. The multi-fingered robotic hand proposed in this study has a new mechanism in which the blades of the iris are placed outside of the hand mechanism, and fingers shaped as equilateral triangular prisms extend perpendicular to the disk of the robotic hand body and are attached to the blade tip. Placing the blade outside the mechanism and adjusting the gear ratios within allows adjustments to the gripping torque and speed. The vertically extended fingers can thus grasp small objects and objects longer than the blade diameter. In this study, we performed geometric and theoretical analyses of the proposed multi-fingered robotic hand. We then fabricated an actual robotic hand, verified the validity of the analyses. </p>

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