TY - GEN
T1 - Underactuated Three-finger Dexterous Hand in High Altitude and Extreme Environments
AU - Zhao, Chuan
AU - Liu, Menghua
AU - Li, Hui
AU - Jiang, Zhihong
AU - Feng, Shenyao
AU - Zheng, Tao
AU - Li, Long
AU - Zhang, Bainan
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - To adapt to the extremely complex plateau environment, such as low temperature, rain and wind and sand, a modular underactuated three-finger dexterous hand (EE-UTDH). Underactuated linkage mechanism with high protection and high integration is designed to realize the function of grasping, pinching and pressing, which can meet the requirements of waterproof and high and low temperature with high reliability. Based on the requirements of heat balance and protection, the high-integration and spatial optimization of the in-palm drive system adopts double-layer gear technology to shorten the drive chain and optimize the layout of the mechanical system. Through reducer reduction ratio and transmission chain clearance, the coupling motion influence of the motor and reducer is eliminated. The influence of cable winding caused by the central motor frame is avoided, and the risk of motion interference within the system is reduced. The functional, structural and protective properties of the dexterous hand are verified. EE-UTDH provides a dexterous hand design path for common grasping tasks and simple manipulation in complex high-altitude environments.
AB - To adapt to the extremely complex plateau environment, such as low temperature, rain and wind and sand, a modular underactuated three-finger dexterous hand (EE-UTDH). Underactuated linkage mechanism with high protection and high integration is designed to realize the function of grasping, pinching and pressing, which can meet the requirements of waterproof and high and low temperature with high reliability. Based on the requirements of heat balance and protection, the high-integration and spatial optimization of the in-palm drive system adopts double-layer gear technology to shorten the drive chain and optimize the layout of the mechanical system. Through reducer reduction ratio and transmission chain clearance, the coupling motion influence of the motor and reducer is eliminated. The influence of cable winding caused by the central motor frame is avoided, and the risk of motion interference within the system is reduced. The functional, structural and protective properties of the dexterous hand are verified. EE-UTDH provides a dexterous hand design path for common grasping tasks and simple manipulation in complex high-altitude environments.
UR - http://www.scopus.com/inward/record.url?scp=85138700208&partnerID=8YFLogxK
U2 - 10.1109/RCAR54675.2022.9872216
DO - 10.1109/RCAR54675.2022.9872216
M3 - Conference contribution
AN - SCOPUS:85138700208
T3 - 2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022
SP - 562
EP - 567
BT - 2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022
Y2 - 17 July 2022 through 22 July 2022
ER -