1A1-A06 Development of an anthropomorphic robot hand mechanism with low backlash 3D-cam joints : Prototype of a finger mechanism and its evaluation

Abstract

In this paper, we discribe a prototype finger mechanism of an anthropomorphic robot hand with 3D-cam joints. In the previous development, a finger joint is driven by a motor through wires and gears or by compressed air through tubes and so on. These actuation methods, however, have some problems; such as creeping a wire, requirement of large space for an air-compressor, and backlash of gears, which are difficult to solve. The 3D-cam joint we developed has a benefit of extremely low backlash and an ability of self-adjustment for easily assembling a joint structure.