Abstract
This paper describes how a standard HI-tech WINner Corporation articulated six degrees of freedom (DOFs) industrial robot arm and a National Taiwan University five-finger robotic hand was equipped with additional hardware and software to enable the resulting machine to play chess with a human chess player. For automatic interaction with the human player, moves were recorded by a webcam and automatically analyzed. No manual (keyboard) input was necessary. The chess-playing robotic system has been provided. An innovative humanoid robotic hand with 12 DOFs and 19 joints were designed, and distributed tactile sensor arrays with 376 detecting points on its surface were developed. The hand can communicate with the external through controller area networks bus. For performance evaluation of the designed robotic hand, we analyzed the workspace, intersection volume, and manipulability. First, several anatomical analyses were conducted prior to a decision on the kinematic design. Optimization procedures were then developed in this study to improve the parameters of the design and structure of the mechanism. The concepts of a series elastic actuator and an under-actuated mechanism were also employed to give the robotic hand a compliant property and high dexterity; hence, a humanoid robotic hand was devised. Since the robotic hand is as small and dexterous as a human hand, it can be conveniently used for a wide range of applications. Finally, the system has been proved to be executable in a complex environment.
Highlights
In recent years, numerous multi-fingered robotic hands have been developed
This article gave an overview of the design solutions and implementation of an autonomous chess-playing robot, focusing on the dexterity and compliance of grasping control by implementing a robot hand–arm system that is composed of a HI-tech WINner (HIWIN) articulated six degree of freedom (DOF) industrial robot arm and the National Taiwan University (NTU) five-finger robotic hand
As for the mechanical design, the structure with spring-based compliant hinges is proved to be quite satisfactory in terms of structural simplification, ease of manufacturing, and convenient assembly
Summary
Numerous multi-fingered robotic hands have been developed. The design concept of robotic hands can be classified into two categories. To manipulate and explore the object, the grasp may be changed by, for instance, finger gaiting or rolling to achieve the goal, and the dynamics and stability in such evolution should be considered Another problem is the motion from the initial configuration of the hand to the grasped object, which includes the positioning of the contacts and the force control. The microcontrollers on the driver boards were defined as lower-level controllers, which were used mainly to control the motors and read signals from the sensors
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