Abstract
This paper presents Tokyo-TECH 100 N Hand II, a three-fingered eight-degree of freedom hand that can generate a large grasp force of 100N. All fingers are 107 mm in length and the weight of the hand is 1063 g. The hand can generate a large grasp force with a torque-magnification mechanism and all joints can perform a high speed motion of over 400deg/s with a high-speed driving mechanism. The torque magnification mechanism can maintain a large grasp force without energy consumption. In the previous work (Tokyo-TECH 100 N Hand), a screw and nut mechanism is used for the force-magnification mechanism. However it makes the motion range of each joint small and the size of the hand large. In this paper, we introduce a worm gear instead of a screw and nut mechanism, which makes it possible to magnify the force at an arbitrary angle of the joint.
