適応把持可能な1自由度多指節複数指ハンド機構の設計

抄録

A noble flexible two-finger hand mechanism that can grasp an object with various sizes and locations with easy control is proposed. The hand is a planer 17-bar underactuated mechanism with one driving motor and five prismatic joints with springs. Mechanism dimensions are designed to set angular velocities of phalanxes to 0 when the hand has just grasped the object, and are optimized by maximizing the difference of relative angles between phalanxes while transmissibility is taken into account. In order to calculate motion of the hand and grasping force, a kinetostatic analysis of the hand that has contact with the object is carried out. The motion of the object is then calculated with the contact forces. Finally, a prototype of the hand mechanism can grasp objects that have different diameters and locations with input rotation of the motor at uniform speed. It is thus confirmed that the proposed underactuated hand mechanism is effective and useful for flexible grasping an object with various sizes and locations.