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Essay's paper info
| Topic: |
Technology
|
| Number of pages / Number of words: |
30 / 8383 |
Essay's paper body
In total the hand has 13 degrees of freedom.
Mechanics
? Four identical fingers with four joints and three degrees of freedom each and an aluminum open skeleton structure with injection molded plastic shells
? bevel gear in the base joint
Motion ranges
extension / flexion proximal joint - 55° / 75°
abduction / adduction proximal joint ± 37°
extension / flexion medial and distal joint - 20° / 105°
Link lengths
proximal link 75 mm
medial link 40 mm
distal link 40 mm
Forces/Torques
active force perpendicular to the stretched fingertip: 30 N
Speed
approximately 360°/s for each joint
Weight
a single finger: 375 g
the complete hand: 1800 g
Electronics
? Sensor electronics located directly beside the sensors
? A/D-conversion in each finger link...
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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:
o 4-wire power supply (24 V motor power supply and 50 V, 20 kHz power supply for electronics)
o 8-wire serial communication interface
? Hot pluggable tool change within a few seconds with a customized tool retainer
Control computer
Two-CPU PowerPC VME bus system
Design/Construction of DLR Hand II
In 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...
Essay fragment
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