지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
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초록· 키워드
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A humanoid robot hand with one thumb and two fingers has been developed. Each finger has the specially designed compact joints, called “MEC Joint”, which convert the rotation of a motor to the swing motion of a pendulum. The robot hand with the MEC Joints is compact and relatively light but strong enough to grasp objects in the same manner as human being does in daily activities. In this paper the kinematic model and the torque characteristics of the MEC Joint are presented and compared with the results of the dynamic simulation and the dynamometer test. The dynamic behavior of the thumb and two fingers with MEC Joints are also presented by computer simulation.
목차
Abstract
1. 서론
2. 로봇핸드에 적용된 관절의 형태
3. 멕조인트
4. 멕조인트 특성 실험
5. 로보멕 로봇핸드
6. 결론
참고문헌
참고문헌 (16)
참고문헌 신청
1. [학술대회논문] - Jacobsen, S. / 1986 / Design of the Utah/M.I.T. Dextrous Hand / Proceedings of the IEEE International Conference on Robotics and Automation : 1520 ~ 1532
2. [학술대회논문] - J. Butterfass / 2001 / DLR-Hand II: Next Generation of a Dextrous Robot Hand / Proceedings of the IEEE International Conference on Robotics and Automation : 109 ~ 114
3. [학술대회논문] - T. B. Martin / 2004 / Tactile Gloves for Autonomous Grasping with the NASA/DARPA Robonaut / Proceedings of the IEEE International Conference on Robotics and Automation
4. [인터넷자원] - / / http://www.barrett.com/robot/products-hand.htm
5. [학술지(정기간행물)] - H. kawasaki / 2002 / Anthropomorphic Robot Hand: Gigu Hand III / Int. conf. on Control, Automation, and Systems : 1288 ~ 1293
2. [학술대회논문] - J. Butterfass / 2001 / DLR-Hand II: Next Generation of a Dextrous Robot Hand / Proceedings of the IEEE International Conference on Robotics and Automation : 109 ~ 114
3. [학술대회논문] - T. B. Martin / 2004 / Tactile Gloves for Autonomous Grasping with the NASA/DARPA Robonaut / Proceedings of the IEEE International Conference on Robotics and Automation
4. [인터넷자원] - / / http://www.barrett.com/robot/products-hand.htm
5. [학술지(정기간행물)] - H. kawasaki / 2002 / Anthropomorphic Robot Hand: Gigu Hand III / Int. conf. on Control, Automation, and Systems : 1288 ~ 1293
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UCI(KEPA) : I410-ECN-0101-2020-559-001259130