Design of Modular End-effector for Collaborative Robot based on Underactuated Mechanism

Hyeonjun Park; Donghan Kim; Bumjoo Lee

doi:10.1109/IRC.2020.00090

Design of Modular End-effector for Collaborative Robot based on Underactuated Mechanism

Hyeonjun Park
, Donghan Kim
, Bumjoo Lee

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we introduce end-effector adopting the modular finger module, which is the under-actuated system based on two four-bar link mechanism. The four fingers, excluding the thumb, consist of distal interphalangeal (DIP), proximal interphalangeal (PIP), metacarpophalangeal (MCP) joints. The thumb part consists of interphalangeal (IP), metacarpophalaneal (MCP), carpometacarpal (CMC) joint. The size of proposed modular end-effector similar to the average adult male's hand. Four fingers assemble on the palm of the end-effector, and those are arranged to parallel for the force balance during grasping objects. Each finger was modularized for easy replacement, and each one was actuated by one linear motor. The Thumb module has an extra motor for abduction/adduction. The finger module consists of the four links and three joints; MCP, PIP, DIP joint. The finger module is an under-actuated system based on the two four-bar linkage mechanism.

Original language	English
Title of host publication	Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	475-479
Number of pages	5
ISBN (Electronic)	9781728152370
DOIs	https://doi.org/10.1109/IRC.2020.00090
Publication status	Published - Nov 2020
Event	4th IEEE International Conference on Robotic Computing, IRC 2020 - Virtual, Taichung, Taiwan, Province of China Duration: 9 Nov 2020 → 11 Nov 2020

Publication series

Name	Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020

Conference

Conference	4th IEEE International Conference on Robotic Computing, IRC 2020
Country/Territory	Taiwan, Province of China
City	Virtual, Taichung
Period	9/11/20 → 11/11/20

Bibliographical note

Publisher Copyright:
© 2020 IEEE.

Keywords

end-effector
four-bar linkage
grasping
modular finger
multi-finger
robot hand
under-actuated

Access to Document

10.1109/IRC.2020.00090

Cite this

Park, H., Kim, D., & Lee, B. (2020). Design of Modular End-effector for Collaborative Robot based on Underactuated Mechanism. In Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020 (pp. 475-479). Article 9287911 (Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRC.2020.00090

Park, Hyeonjun ; Kim, Donghan ; Lee, Bumjoo. / Design of Modular End-effector for Collaborative Robot based on Underactuated Mechanism. Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 475-479 (Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020).

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title = "Design of Modular End-effector for Collaborative Robot based on Underactuated Mechanism",

abstract = "In this paper, we introduce end-effector adopting the modular finger module, which is the under-actuated system based on two four-bar link mechanism. The four fingers, excluding the thumb, consist of distal interphalangeal (DIP), proximal interphalangeal (PIP), metacarpophalangeal (MCP) joints. The thumb part consists of interphalangeal (IP), metacarpophalaneal (MCP), carpometacarpal (CMC) joint. The size of proposed modular end-effector similar to the average adult male's hand. Four fingers assemble on the palm of the end-effector, and those are arranged to parallel for the force balance during grasping objects. Each finger was modularized for easy replacement, and each one was actuated by one linear motor. The Thumb module has an extra motor for abduction/adduction. The finger module consists of the four links and three joints; MCP, PIP, DIP joint. The finger module is an under-actuated system based on the two four-bar linkage mechanism.",

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author = "Hyeonjun Park and Donghan Kim and Bumjoo Lee",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 4th IEEE International Conference on Robotic Computing, IRC 2020 ; Conference date: 09-11-2020 Through 11-11-2020",

year = "2020",

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doi = "10.1109/IRC.2020.00090",

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Park, H, Kim, D & Lee, B 2020, Design of Modular End-effector for Collaborative Robot based on Underactuated Mechanism. in Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020., 9287911, Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020, Institute of Electrical and Electronics Engineers Inc., pp. 475-479, 4th IEEE International Conference on Robotic Computing, IRC 2020, Virtual, Taichung, Taiwan, Province of China, 9/11/20. https://doi.org/10.1109/IRC.2020.00090

Design of Modular End-effector for Collaborative Robot based on Underactuated Mechanism. / Park, Hyeonjun; Kim, Donghan; Lee, Bumjoo.
Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 475-479 9287911 (Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - In this paper, we introduce end-effector adopting the modular finger module, which is the under-actuated system based on two four-bar link mechanism. The four fingers, excluding the thumb, consist of distal interphalangeal (DIP), proximal interphalangeal (PIP), metacarpophalangeal (MCP) joints. The thumb part consists of interphalangeal (IP), metacarpophalaneal (MCP), carpometacarpal (CMC) joint. The size of proposed modular end-effector similar to the average adult male's hand. Four fingers assemble on the palm of the end-effector, and those are arranged to parallel for the force balance during grasping objects. Each finger was modularized for easy replacement, and each one was actuated by one linear motor. The Thumb module has an extra motor for abduction/adduction. The finger module consists of the four links and three joints; MCP, PIP, DIP joint. The finger module is an under-actuated system based on the two four-bar linkage mechanism.

AB - In this paper, we introduce end-effector adopting the modular finger module, which is the under-actuated system based on two four-bar link mechanism. The four fingers, excluding the thumb, consist of distal interphalangeal (DIP), proximal interphalangeal (PIP), metacarpophalangeal (MCP) joints. The thumb part consists of interphalangeal (IP), metacarpophalaneal (MCP), carpometacarpal (CMC) joint. The size of proposed modular end-effector similar to the average adult male's hand. Four fingers assemble on the palm of the end-effector, and those are arranged to parallel for the force balance during grasping objects. Each finger was modularized for easy replacement, and each one was actuated by one linear motor. The Thumb module has an extra motor for abduction/adduction. The finger module consists of the four links and three joints; MCP, PIP, DIP joint. The finger module is an under-actuated system based on the two four-bar linkage mechanism.

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PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Park H, Kim D, Lee B. Design of Modular End-effector for Collaborative Robot based on Underactuated Mechanism. In Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 475-479. 9287911. (Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020). doi: 10.1109/IRC.2020.00090

Design of Modular End-effector for Collaborative Robot based on Underactuated Mechanism

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Keywords

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