WO2012153931A3 - 로봇 핸드 - Google Patents

로봇 핸드 Download PDF

Info

Publication number
WO2012153931A3
WO2012153931A3 PCT/KR2012/003390 KR2012003390W WO2012153931A3 WO 2012153931 A3 WO2012153931 A3 WO 2012153931A3 KR 2012003390 W KR2012003390 W KR 2012003390W WO 2012153931 A3 WO2012153931 A3 WO 2012153931A3
Authority
WO
WIPO (PCT)
Prior art keywords
base member
robot
hand
enabling
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2012/003390
Other languages
English (en)
French (fr)
Other versions
WO2012153931A2 (ko
Inventor
노태성
김성태
최종섭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robomech Co Ltd
Original Assignee
Robomech Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robomech Co Ltd filed Critical Robomech Co Ltd
Publication of WO2012153931A2 publication Critical patent/WO2012153931A2/ko
Publication of WO2012153931A3 publication Critical patent/WO2012153931A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

본 발명은 물체와의 접촉 여부에 따라 마디가 다르게 움직이는 적응형 운동이 가능한 로봇 핸드에 관한 것으로, 본 발명의 로봇 핸드는 제1베이스부재(100)와; 제1베이스부재(100)의 일측에 설치되는 제2베이스부재(200)와; 제1베이스부재(100)에 서로 이격되도록 각각 설치되어 팬이나 틸트운동을 하는 다수개의 제1로봇 손가락기구(300)와; 제2베이스부재(200)에 설치되어 틸트나 회전운동을 하는 제2로봇 손가락기구(400)와; 제1베이스부재(100)와 제2베이스부재(200) 사이에 설치되어 제2베이스부재(200)를 회전시켜 제1로봇 손가락기구(300)가 왕복운동되도록 하는 왕복운동기구(500)로 구성하여, 물체와 접촉 위치를 가변시킴으로써 물체의 크기와 형상에 따라 접촉을 유연하게 할 수 있도록 하고 정교한 동작을 할 수 있도록 하는데 있다.
PCT/KR2012/003390 2011-05-12 2012-05-01 로봇 핸드 Ceased WO2012153931A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020110044468A KR101300079B1 (ko) 2011-05-12 2011-05-12 로봇 핸드
KR10-2011-0044468 2011-05-12

Publications (2)

Publication Number Publication Date
WO2012153931A2 WO2012153931A2 (ko) 2012-11-15
WO2012153931A3 true WO2012153931A3 (ko) 2013-01-24

Family

ID=47139771

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/003390 Ceased WO2012153931A2 (ko) 2011-05-12 2012-05-01 로봇 핸드

Country Status (2)

Country Link
KR (1) KR101300079B1 (ko)
WO (1) WO2012153931A2 (ko)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3054157B1 (fr) * 2016-07-20 2020-01-24 Astrid RUBIANO FONSECA Chaine articulee comprenant un unique actionneur et ensemble de chaines articulees associees
CN109496179B (zh) * 2018-01-23 2022-07-15 深圳蓝胖子机器智能有限公司 一种机械手指及机械手
WO2019144266A1 (zh) * 2018-01-23 2019-08-01 深圳蓝胖子机器人有限公司 一种机械手指及机械手
KR102152467B1 (ko) 2018-08-02 2020-09-07 한국기계연구원 그립장치 및 이를 가지는 그립로봇
KR102343057B1 (ko) 2018-08-02 2021-12-27 한국기계연구원 그립장치 및 이를 가지는 그립로봇
KR102178907B1 (ko) 2019-06-21 2020-11-16 한국기계연구원 소프트 그립유닛, 이를 포함하는 그립장치 및 그립장치의 구동방법
WO2020251130A1 (ko) 2019-06-14 2020-12-17 한국기계연구원 소프트 그립유닛, 이를 포함하는 그립장치 및 그립장치의 구동방법
KR102152469B1 (ko) 2019-06-14 2020-09-07 한국기계연구원 소프트 그립유닛, 이를 포함하는 그립장치 및 그립장치의 구동방법
KR102230770B1 (ko) 2019-06-28 2021-03-23 한국기계연구원 홀딩장치, 이를 포함하는 이송시스템 및 이송방법
KR102386244B1 (ko) 2020-07-22 2022-04-13 한국기계연구원 그립장치, 그립장치의 제어방법, 그립장치를 가지는 케이블 정렬장치 및 케이블 정렬장치를 이용한 케이블 정렬방법
CN114098982B (zh) * 2021-11-25 2023-07-25 燕山大学 刚柔软并联操作手操控机构
CN119526453B (zh) * 2025-01-16 2025-04-29 浙江强脑科技有限公司 一种机械手及机器人

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005297100A (ja) * 2004-04-08 2005-10-27 Fujinon Corp ロボット用マニピュレータ
JP2007290044A (ja) * 2006-04-21 2007-11-08 National Institute Of Advanced Industrial & Technology ロボットの駆動機構及びロボットハンド
JP2007290099A (ja) * 2006-04-27 2007-11-08 National Institute Of Advanced Industrial & Technology ロボットハンド
KR20100112670A (ko) * 2009-04-10 2010-10-20 한국과학기술연구원 로봇핸드장치

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100824780B1 (ko) * 2006-11-21 2008-04-24 주식회사은강테크 지능형 유연 핸드장치
KR100899108B1 (ko) * 2007-10-24 2009-05-26 재단법인 포항지능로봇연구소 로봇 핸드

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005297100A (ja) * 2004-04-08 2005-10-27 Fujinon Corp ロボット用マニピュレータ
JP2007290044A (ja) * 2006-04-21 2007-11-08 National Institute Of Advanced Industrial & Technology ロボットの駆動機構及びロボットハンド
JP2007290099A (ja) * 2006-04-27 2007-11-08 National Institute Of Advanced Industrial & Technology ロボットハンド
KR20100112670A (ko) * 2009-04-10 2010-10-20 한국과학기술연구원 로봇핸드장치

Also Published As

Publication number Publication date
WO2012153931A2 (ko) 2012-11-15
KR20120126576A (ko) 2012-11-21
KR101300079B1 (ko) 2013-08-23

Similar Documents

Publication Publication Date Title
MX2016013597A (es) Accionamiento de una mano destinada a equipar un robot de carácter humanoide.
CA2937585C (en) Hand intended for being provided on a humanoid robot with improved fingers
EP3820656A4 (en) COLLISION DETECTION FOR MOTION PLANNING OF ROBOTS
WO2012167853A8 (de) Endeffektor
EP4235090A3 (en) Coordinate positioning machine
PL3700719T3 (pl) Zautomatyzowane urządzenie z ruchomą konstrukcją z czujnikową osłoną, w szczególności robot
SG11201608204QA (en) Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
HK1209612A1 (en) Interface between user and laparoscopic tools
WO2013025831A3 (en) Medical instrument with flexible jaw and/or flexible wrist mechanisms
SG11202112038XA (en) Decoder-side motion vector refinement tool on/off control
EP3571024A4 (en) MOBILE ROBOT
EP2740568A3 (en) Automated polishing systems and methods
SG11201705624XA (en) Underwater manipulator arm robot
TW201613731A (en) Robot
MX2016015686A (es) Herramienta destinada a elevar un vehiculo.
NO345105B1 (en) Multiaxial robotic arm
WO2015155083A3 (en) Machine tool
EP2942163A3 (en) Path repeatable machining for full sized determinant assembly
EP2884086A3 (en) Actuator with valve return
EP2614936A3 (en) Robots, computer program products, and methods for trajectory plan optimization
MX375247B (es) Manipulador robotico configurable accionado por medio de actuadores y tendones.
WO2011131375A8 (de) Betrieb einer koordinatenmessmaschine oder einer werkzeugmaschine
EP3305481A4 (en) ROBOT ARM MECHANISM
EP4046756A4 (en) MULTI-JOINT ROBOT
WO2017188114A3 (ja) エンコーダ装置、駆動装置、ステージ装置、及びロボット装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12782993

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 12782993

Country of ref document: EP

Kind code of ref document: A2