Grasp Transfer Control Using Cartesian Coordinate Two-Link Robot Arm with Prototype Robot Hand Consisting of Stepping Motors, Gears and Plate Springs
Ping Han*, Hiroyuki Kojima*, Lingfang Huang** and Saputra Meruadi*
*Department of Mechanical System Engineering, Graduate School of Engineering, Gunma University
1-5-1 Tenjincho, Kiryu, Gunma 376-8515, Japan
**Otsuka Koki Corporation
3-7-77 Tarumachi, Kouhokuku, Yokohama, Kanagawa 222-0001, Japan
In this study, the grasp transfer control system by a Cartesian coordinate two-link robot arm with a prototype robot hand is presented. The prototype robot hand consists of permanent-magnet-type stepping motors, gears and plate springs. The grasp force control of the robot hand is performed by a feedforward control of the stepping motors based on the dimension of a grasped object. The Cartesian coordinate two-link robot arm consists of ball screws and hybrid stepping motors. Then the numerical simulations and experiments of the grasp transfer control have been carried out, and it is confirmed that the grasp transfer control could be successfully performed, and the grasp force could be accurately controlled among the motion control of the Cartesian coordinate two-link robot arm.