A Quasi-Direct Drive Robot Hand for Reactive and Contact-rich Manipulations

Shiyuan Lin; Yuntian Zhao; Zheng Zhu; Zhenzhong Jia

10.1109/ICARM54641.2022.9959623

2022

7th IEEE International Conference on Advanced Robotics and Mechatronics

978-1-6654-8307-0

2022 International Conference on Advanced Robotics and Mechatronics (ICARM)

180-186

9-11 July 2022

Guilin, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Proprioceptive actuation, which includes direct-drive (DD) and quasi-direct-drive (QDD), has achieved great success in the legged robots community recently. It also shows great potential in reactive and contact-rich manipulations. However, it suffers from critical problems such as motor overheating and unacceptable low firm grasping force, which prevents its further applications. To solve these problems, this paper presents a novel QDD hand design with an innovative hybrid drive mechanism that can take full advantage of grasping mode characteristics, thereby significantly increasing the grasp force without overheating the motor. We present detailed design, formulate the kinematics and dynamics modeling, investigate current-based force sensing (proprioceptive perception) and associated control strategies. We develop an integrated robot arm-hand system and perform experiments to validate the effectiveness of our proposed approach. Experimental results indicate that our proposed design holds great promise in leading a fundamental paradigm shift in robot hand design.

Legged locomotion Mechatronics Contacts Force Propioception Grasping Kinematics

第一

英语

CPCI-S

Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]

Automation & Control Systems ; Engineering ; Robotics

Automation & Control Systems ; Engineering, Electrical & Electronic ; Robotics

WOS:000926398000030

IEEE

Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology (SUSTech), Shenzhen, China

Shiyuan Lin,Yuntian Zhao,Zheng Zhu,et al. A Quasi-Direct Drive Robot Hand for Reactive and Contact-rich Manipulations[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:180-186.