3P2-R04 Robot finger with load-sensitive force magnification mechanism using rack-gear tilting mechanism(Robot Hand Mechanism and Grasping Strategy (2))

Abstract

A robot finger equipped with a novel load-sensitive cable-driven force magnification mechanism (FMM) is developed. The mechanism uses only one motor to achieve the two-phase movement of the finger; the high-speed phase when approaching an object and the high-grasping-force phase after the finger made contact with the object. Through the use of the pulleys and the rack-gear tilting mechanism, the developed FMM can swiftly change its reduction ratio. The validity of the concept was verified by experiment. The developed finger was able to provide a fingertip force changing from 1 N to 15.24 N with a maximum finger joint speed of 388 deg/s.