Abstract
This paper describes an underactuated robot hand whose link posture is controlled by using dynamic effect. First we show an analytical model of two link system which has an active joint driven by an actuator and a passive joint with a viscoelastic element (viscoelastic joint). Based on the model, we reveal the variable vibration center effect of the viscoelastic joint with respect to the input frequency and amplitude of the active joint. We then discuss how to control the finger link posture of robot hand by using the effect. Here we show the design orientation for keeping a contact with an object and for expanding the movable range. Finally, we experimentally confirm the variable vibration center effect and show a grasping motion by a prototype robot finger.
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