고출력 Fingertip Force를 위한 핑거타입 매니퓰레이터의 메커니즘 설계

Abstract

Inspired from human finger mechanism, a novel actuation mechanism for the finger-type manipulator is designed to achieve highly powerful performance of robot fingers. Since the proposed mechanism allows the spatially continuously distributed forcing points on the multiple links, we have one more design freedom to optimize the fingertip force. Also, the proposed principle may be generally adopted for designing anthropomorphic robot hands with compact size and strong output force. To verify the proposed mechanism, the numerical analysis is being carried out, and the simulation results show the remarkably increased fingertip force compared with the conventional mechanism of the robot fingers.