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A Robot Finger Design Using a Dual-Mode Twisting Mechanism to Achieve High-Speed Motion and Large Grasping Force

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4 Author(s)
Young June Shin ; Department of Mechanical Engineering , Korea Advanced Institute of Science and Technology, Daejeon, Korea ; Ho Ju Lee ; Kyung-Soo Kim ; Soohyun Kim

A dual-mode robot finger is proposed to achieve a high-speed motion and large grasping force with a single motor. The robot finger has two actuator modes, which consist of the speed mode and the force mode. Based on the geometric analysis of each mode, the main design parameters of the proposed robot finger are derived, and their effectiveness is verified by simulations. In addition, using experiments with a prototype of a robot finger, the validity of the proposed approach is demonstrated.

Published in:

IEEE Transactions on Robotics  (Volume:28 ,  Issue: 6 )