关键词: DLR/HIT, 灵巧手, 模块化, 数字信号处理器, 现场可编程门阵列

Abstract: Based on the design idea of mechatronics and the latest driving technique, the DLR/HIT dexterous robot hand II is developed. The hand has five identical modular fingers and an independent palm. Each finger has four joints with three DOFs. In order to decrease the volume and mass of a finger, the new disc brushless DC motor with small size and large output torque, and the transmission system with timing pulleys and tiny harmonic drive are adopted. By using the steel coupling mechanism, the phalanx distal’s transmission ratio is exact 1:1. At the same time, the multisensory dexterous hand integrates position, force/torque, temperature sensors and so on. The hierarchical hardware structure of the hand consists of finger electric units, the palm electric unit and PCI board. The hand has multiple communication interfaces for point-to-point serial communication, CAN and network. Instead of extra cover, the packing mechanism of the hand is implemented directly in the finger body and palm to make the hand smaller and more humanlike. The whole mass of the hand is about 1.5 kg and the fingertip output force can reach 10 N.

Key words: Dexterous robot hand, Digital signal processor, DLR/HIT, Field programmable gate array, Modularization