Development and motion analysis of a light and many-joint robot finger using shape memory gel and tendon-driven mechanism with arc route
by Mitsuhiro Yamano; Naoya Hanabata; Akira Okamoto; Toshihiko Yasuda; Yasutaka Nishioka; M.D. Nahin Islam Shiblee; Kazunari Yoshida; Hidemitsu Furukawa; Riichiro Tadakuma
International Journal of Mechatronics and Automation (IJMA), Vol. 9, No. 2, 2022

Abstract: Dexterous and light-weight robot hands are useful for many complicated tasks collaborating with human because human safety should be assured even if unexpected collision occurs. Multi-fingered robot hands with many motors tend to have an advantage in dexterity and a disadvantage in weight reduction. We propose a low-cost and light-weight robot finger with many joints driven by one motor. The finger includes shape memory gel and tendon-driven mechanism with arc route of its tendon strings. We describe the design and production method of a prototype finger with seven joints. A prototype robot hand using the three fingers is also presented. We analyse the relation between the motion of the tendon strings and the joint angles. We show experiments using the finger and the robot hand with three fingers. The results of the finger experiments show its basic functions and those of hand experiments show its wide variety of the motions.

Online publication date: Tue, 19-Apr-2022

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