DLR's multisensory articulated hand. I. Hard- and software architecture

Abstract

The main features of DLR's dextrous robot hand a s a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured sewicing environments requires dexlrous manipulation abilities und facilities to perform complex remote operations in a very jlexible way. Therefore we have developed a multisensory articulated four jifinger hand, where all actuators are integrated in ehe hand's palm or the fingers directly. I t is an integrated part of a complex light-weight manipulation system aiming a1 the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard-and sof?wure architecture is outlined with particular emphasis on flexibility and performunce issues. The hand is typically controlled through a data glove for telemanipulation and skil'l-transfer purposes. Autonomous grasping and manipula lion capabilities are currently under development.

Simplified human hand models based on grasping analysis

“…The Okada hand [19] has 11 DoF controlled. The DLR hand [20], [21] is composed by four fingers, and 13 DoF controlled. The Robonaut hand [22] is composed by five fingers, and 14 DoF controlled.…”

Ein Beitrag zur Integration von Sensoren in eine anthropomorphe künstliche Hand mit flexiblen Fluidaktoren

“…Für diese Aufgaben wurden z.B. die DLR-Hand II (Abbildung 1.1 rechts) [22,23,24], die Robonaut-Hand der NASA [120], die DIST-Hand [15,25] und die LMS-Hand [60] entwickelt. Manche dieser Hände sind aus Gründen der Einfachheit nur teilanthropomorph ausgelegt und verzichten z.B.…”

“…Stark verbreitet sind Gleichstrommotoren, die entweder im Unterarm, in der Handfläche oder in den Fingern selbst untergebracht sind. Für die Kraftübertragung zu den Fingergelenken werden meist Seilzüge [60], Spindeltriebe [55,56], Zahnradgetriebe [112], Harmonic-Drive-Getriebe [22] oder Kombinationen derselben [23] verwendet.…”

“…Im naheliegendsten Fall sind diese Winkelsensoren in den Gelenken selbst oder in ihrer unmittelbaren Umgebung angebracht. Als Messprinzipien finden sich Potentiometer [23,60], optische Sensoren [22] und Magnetfeldsensoren [28,80,193].…”

DLR-Hand II: next generation of a dextrous robot hand

“…6 of the sensor is composed of two sensitive parts, one is a round plate base element with three symmetrical sensitive beams, another is a cantilever beam. There are three elastic beams in the base element, which are sensitive to the M x , M y and F z by measuring strain 1 Where K i are the calculation parameters. Internal electronics: By using the latest technology the sensor with internal electronics can provide force and torque data at very high bandwidth and with very low noise.…”