Development of a Serial-link Robot Hand: Grip an Object by Winding Flexible Trunk

Abstract

In the world of nature, elephants and some monkeys can grip an object by winding their slim trunk such as a nose or a tail. In order to install such a useful slim trunk in a mobile robot, we proposed lightweight and simple hand mechanism based on existing gripping hand. We investigated wire and pulley arrangements and torque generation for three-dimensional motion. Moreover, we developed “3D Soft Gripper” and conducted the experiment of grip by winding.