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    Dist Hand

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    Abhishek Verma
    This document presents the first prototype of the DIST Robotic Hand developed at the University of Genoa. The hand has a palm supporting four fingers, with each finger having four rotational degrees of freedom and position sensors. The actuation of each finger is done using tendons driven by motors. Various design objectives were pursued including developing a modular structure where each finger is equal.

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    Dist Hand

    Uploaded by

    Abhishek Verma
    41 views2 pages
    This document presents the first prototype of the DIST Robotic Hand developed at the University of Genoa. The hand has a palm supporting four fingers, with each finger having four rotational degrees of freedom and position sensors. The actuation of each finger is done using tendons driven by motors. Various design objectives were pursued including developing a modular structure where each finger is equal.

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    dist hand

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    This document presents the first prototype of the DIST Robotic Hand developed at the University of Genoa. The hand has a palm supporting four fingers, with each finger having four rotational degrees of freedom and position sensors. The actuation of each finger is done using tendons driven by motors. Various design objectives were pursued including developing a modular structure where each finger is equal.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    41 views2 pages

    Dist Hand

    Uploaded by

    Abhishek Verma
    This document presents the first prototype of the DIST Robotic Hand developed at the University of Genoa. The hand has a palm supporting four fingers, with each finger having four rotational degrees of freedom and position sensors. The actuation of each finger is done using tendons driven by motors. Various design objectives were pursued including developing a modular structure where each finger is equal.

    Copyright:

    © All Rights Reserved
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    of 2

    V-25

    The DIST-HAND Rob&*


    -4.CaEm, S.Bernieri, G .Caiiiiata, G.Casalino.
    DIST - University of Genova
    Via Opera Pia 13, 16145 Genom
    'This viden prese~it~s
    the first, prot>ot,ype
    of t'he
    *' DIY'I" ROBOTIC HAND" developed at. t,lie
    (:R.AAI,-T,AII, o f t,he University of Genova.
    In t'lie current, version, the hand is formed
    by B palm support,iiigfour fingers. Ea.ch finger
    fow rotmat
    ional cleg-ees of freedonz, a,nd is
    ccliiipped wit,h cxst,oni h i l d yosit,ion sensors
    r ,
    using Ilall-eff'ec:t, t.raiisduc:ers. 1he a,ctluat)ion
    of ea,c:h finger. is done using six tendons driven
    11y five computer corit,rolledDCI motors.
    '.I'he rout,irig of the t8eridonsenables t,he dec:oiiplexl niot'ioii of each finger joint, aiid the
    c:oiii.rol of t.lie finger-t,ip st,iffness.Furt,hekiore
    the t.endoiis are routzedfrom the fingers to the
    driving ~iiot~ors
    t.hrought,flexible s h e a t h , t40a]low lor fiit,iire placeriie~it~
    of t,he hand on a ro1,ot arn1.
    Various clesigii object,ives have bee11pursued
    (liiring t,he clevelopiiieiitm
    of the present prototype.
    111 part,ic:ular,one goal has been t,liat,of de\doping: a. modular st,ructurewhere a,lltthefinger a,re e q d . As a niat,ter of fact,, ea,ch finger
    and t'he relat'ed niot,ors t,eiidons arid electronics, is aii i11t:lepeiident~
    system. This pot'ent,ially
    ciiables, in a relat,ively sirriple way, t,o set,-up
    rolmtic. hands fkaturing any desired nnmber of
    higers, usiiig each eleriientary finger module
    its a \)idding block.
    h ~ i o t ~ h edesign
    r
    ol,ject,ive has been related
    mit,h i,lie niecha.nic:and kiiiematic charac:t.erist ic:s of each finger.
    his

    This worli has been partially supported by project


    " M A S T 111 - Aiiiadeuij 11" funded by the European
    ('oiiiiniiiiit,y uiider contmct, I\IASS CT95-0021.

    Proc. IROS 97 0-7503-4119-8/97/$1001997IEEE

    In part,icula,rtche system of pulleys needed


    for t.he tendons routing ha,s been optimized.
    This operation has been performed in order
    to reduce the condition number of the tmnsformation relating; fingers joint torques with
    t,endon tensions, which play a significant role
    in the finger iiioticm control.
    Finally, a kinerrta tic analysis performed usiiig simulation tools has ben performed, with
    t,he goal of building a mechanism with size a,nd
    mol>ilitysiiiiilar to those of a, human ha.rid. I11
    part,icular,siiiiulations of the co-ordinated niot'ion of couples of fingers been performed in
    partkula,r to st,udy the correct placement of
    the "thiiiiib" fiiiger wit,h respect to the palm,
    iii order ttoobt,aiii a human-like finger opposit,ion.
    The fina.1design of t,he hand has been a good
    engineering coiiiproiriise between the aiialytical mid simulative specification and the const"ints hsicaily due t,o manufacturing costs,
    a.nc1 t,he a,vailabily of off-the shelf components.
    Furtherly, the me of coniponents for models
    and hobbist,s allowed to develop the system
    in a relatively short time and on limited cost
    basis.
    Currently only a single finger has been niot,orized and experhentally tested.
    The system is cont,rolled using a VME-bus
    basecl cont3rol a.rchitecture, which has been
    progmninied using a " fast prototyping" tool
    such a,s

    SIMULINK/R,EAL-TIME
    WORK-

    SHOP.
    Preliminary motion control experiments
    have been performed at joint level, in order

    V-26

    t,o t.est the position sensor and their possible


    interference due t,o rnagiietic coupling, and to
    verify t.he actual niot,ion capa,bilit,iesof the fingers t.oget,herwith the possibility of achieving
    joint, mot ioii decoiipling, despit,e friction and
    i)
    1,h e y pert iirba.ttioii eRect,s.
    I?ie joint, positmionsensors feature a mildly

    iimi-limw c:liaract,erist.ic~s
    which urifort,unately
    rc(iiiires c:a.refid1 cdibrat,ion and dat,a, processiiig. Nevert.lieless t.lie use of solid st,ate transc1uc:ers allows it very compact, design, a.nd fiiially t,he experirneiit.alevidence has riot shown

    m y interference amoiig various magnetic

    fields due to the magiiets placed at, each joint.


    The DIST ROBOTIC HAND has been developed for t,he a.nalysis a,nd the experimental
    stjudy of robotic gTasping and manipulation,
    a.s well as a device for possible applications in
    the area of telemanipulation.
    The haid is presently under further development, wit,h thea.im of implementing suitable
    force and t,a,ct,ileseiisors needed for gra,sp and
    rriaiiipulat,ion t,asks.

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