Abstract
The paper describes a brief introduction of our developments for robotics joint with variable and designable stiffness in mechanical basis. The core mechanism is a classical differential gear system (DGS) uses as a 2 inputs 1 output mechanical transmission. It gives us a dexterous motion of the joint when taking a passively acted input and an actively driven input. The planetary gear system (PGS) is one of a DGS we have employed in our robotics joint. The artificial finger equipped with a PGS in its MP joint acquires a shape-fitting ability when it takes envelope grasping of unknown shape objects. The artificial forearm equipped with a PGS in its wrist joint allows us under-actuated control of angle and stiffness of the three rotary axes. The DGS, a mechanical module comprising PGS, has utilities in wider range of mechanical system having a lot number of DOF like robotic joints. This paper shows a typical example of application of the DGS in a robotic gripper having serially connected multi joints.
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