TurbineEssay Preview: TurbineReport this essayOur experience in developing, building and using dextrous robot hands reaches back to 1993. Our workscope covers all areas from multisensory mechatronic hand design up to control of the hands including telemanipulation, autonomous grasping and manipulation. The experiences gained with the real system result in new requirements for the next generation design steps.
Following our mechatronic design approach the current generation of dextrous robot hands at our lab – DLR Hand II – is a reliable, flexible and powerful multisensory and fully integrated design with a hot pluggable tool retainer and is rated as one of the most advanced and complex artificial hands in the world.
DLR Hand IIIn the future, service robots will need mobility, light-weight yet powerful arms and articulated hands. We are convinced that the DLR Hand II – even better in combination with DLRs light weight arm developments – is an important contribution to reach these goals (12. October 2004) more …
Our experience in developing, building and using dextrous robot hands reaches back to 1993. Our workscope covers all areas from multisensory mechatronic hand design up to control of the hands including telemanipulation, autonomous grasping and manipulation. The experiences gained with the real system result in new requirements for the next generation design steps.
Following our mechatronic design approach the current generation of dextrous robot hands at our lab – DLR Hand II – is a reliable, flexible and powerful multisensory and fully integrated design with a hot pluggable tool retainer and is rated as one of the most advanced and complex artificial hands in the world.
DLR Hand IIIn the future, service robots will need mobility, light-weight yet powerful arms and articulated hands. We are convinced that the DLR Hand II – even better in combination with DLRs light weight arm developments – is an important contribution to reach these goals … (12. October 2004) more …
Data sheet of DLR Hand IISensors of a single finger3 joint position sensors: specially designed conductive plastic potentiometers3 joint torque sensors: strain gauge sensors3 motor position/speed sensors: analog Hall sensors with interpolation1 six-dimensional finger tip force torque sensor: strain gauge sensors3 motor temperature sensors: NTCs3 sensors for temperature compensation: integrated sensorsActuatorsBrushless DC motor with Harmonic-Drive and tooth belt gearMotors:11(24) mNm, 17,000 rpm for medial joint24(35) mNm, 6,000 rpm for proximal jointGears:Harmonic Drive gears, 1.8 Nm, 6,000 rpm, 100:1 identical for all jointsTooth belt gear:1.2:1 in proximal joint2:1 in medial jointDegrees of FreedomFour identical fingers with four joints and three degrees of freedom the medial and distal joints are directly coupled 1:1. One additional degree of freedom in the palm. In total the hand has 13 degrees of freedom.
MechanicsFour identical fingers with four joints and three degrees of freedom each and an aluminum open skeleton structure with injection molded plastic shellsbevel gear in the base jointMotion rangesextension / flexionproximal joint– 55o / 75oabduction / adductionproximal joint± 37oextension / flexionmedial and distal joint– 20o / 105oLink lengthsproximal link75 mmmedial link40 mmdistal link40 mmForces/Torquesactive force perpendicular to the stretched fingertip: 30 NSpeedapproximately 360o/s for each jointWeighta single finger: 375 gthe complete hand: 1800 gElectronicsSensor electronics located directly beside the sensorsA/D-conversion in each finger link. Serial communication system connecting within the finger to connect the finger links with a minimum number of cables. Serial communication system connecting the fingers to the hand and the hand to any external control computer.
Number of cables to the hand:4-wire power supply (24 V motor power supply and 50 V, 20 kHz power supply for electronics)8-wire serial communication interfaceHot pluggable tool change within a few seconds with a customized tool retainerControl computerTwo-CPU PowerPC VME bus systemDesign/Construction of DLR Hand IIIn order to achieve the goal of maximum flexibility and performance our philosophy is the miniaturization and complete integration of all components of the hand and also the massive reduction of cabling. As on DLRs Hand I the main aspects in developing the new hand were maximum performance to improve autonomous grasping and fine manipulation possibilities and the use of fully integrated actuators and electronics without a forearm. This is the only possibility to use an articulated hand on different types of robots which are not specially prepared to be used with hands. Hands
The DLR hand series is a unique and unique one because of the different components used to manufacture and assemble the hand in the field. There is a full range of parts and components from the microcontroller design to a dedicated hand assembly for a single robot and it’s full-size electronics kit for the robot. The DLR hand series also has a large range of different components from all parts of the robot body with each unit being the same as its individual models. As a result it has high-capacity batteries and multiple different functions and many options from the microcontroller design to micro-controller-style assembly options.
The design of the DLR hand series was completed in 2004 with the help of all available materials from the DLR workshop.
In the beginning, we used small-scale microcontrollers for the Arduino, Raspberry Pi, Samsung and other 3D printed applications during design. As technology continues to evolve the new, more capable computer is getting bigger but the DLR hand series is the ultimate solution, with the same capabilities as the miniaturized hand, with two major advantages:
Hand development
Hand development is a fundamental skill and one of the only technologies at the moment. The DLR hand series consists of hand-made hand models assembled using various parts which have been extensively developed over a period of time from hand model to full-size microcontroller.
Although there is a lot of information available on these hand models and there is still plenty of time for prototyping before the end of 2012 the next version of DLR hand series will be in Q3 of the next year. With the release of this new hand series in 2013 the development schedule for some basic components was already at a stage when some of the hardware required for the hand development was already made available.
Some of the most common features of the hand are as follows:
hand size
Hand size is the basic measurement for the hand, the smallest size is the minimum size of its case
The hand-made hand design differs from other hand-made hand models because of the microcontroller concept and the complexity of manufacturing microcontrollers based on them. The hand size is the exact amount of extra capacity you can have in each hand with a minimum of a microcontroller
The design of the hand is based on an innovative hand design design by Hoei (Hyperbolic Processing Unit and Headless Computer Hand), an independent design company.
Hand Design
The first step into this hand development was to create a custom-designed piece that will be manufactured with the unique hand model. The microcontrollers used in this hand designed part are based on parts which can be easily transferred by transferring them from one device to another. Each one is assembled and then placed onto a large or medium scale printer. Using only the lowest standard cost available, the hand-made components are then transferred to the printer from the manufacturer. The printable components are designed to be printed in high resolution and are able to be seen in 3D. They come up with different combinations of material, hardware and buttons that help keep them from being overbuilt or shrunk. The printing capability will be easily and easily transferred to the microcontroller-style assembly.
The design details of the tool are based on an easy-to-understand application for designing and assembling the new robotic hand hand. Unlike before with the miniature-level design of the hand our new hand will start out as a bare hand, but for all the possibilities of the new hand it will have extra capacity and