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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:LIU Yi-wei,ZHAO Jing-dong,JIN Ming-he,Liu Hong.Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration[J].Journal of Harbin Institute Of Technology(New Series),2009,16(3):376-381.DOI:10.11916/j.issn.1005-9113.2009.03.015.
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Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration
Author NameAffiliation
LIU Yi-wei State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China 
ZHAO Jing-dong State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China 
JIN Ming-he State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China 
Liu Hong State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China 
Abstract:
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.
Key words:  robotic hand  sensors  mechatronic integration
DOI：10.11916/j.issn.1005-9113.2009.03.015
Clc Number:TP242
Fund:

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