抄録
This paper presents the development of 3-fingers multi-sensory hand which was integrated in a precise space telerobotic system for space testing aboard the Engineering Test Satellite VII. First, we discuss requirements for this hand. This hand must measure positions of works, to approach. We chose a hand eye camera and three proximity range finders to measure positions. The hand must grip, mate and demate works safely. Therefore, it is equipped with a wrist compliance device, a displacement sensor, a finger module and two grip force sensors. Secondary, we present the mechanism and sensor devices. The finger module consists of one linear-movement finger and two rotary fingers with the grip force sensors. The wrist compliance device absorbs 4-DOF position errors and the displacement sensor measures 3-DOF position errors while the hand is performing tasks. Finally, We report how mechanism and sensor devices are used and deal with the hand design considering the conditions of launching and space environment.
