The artificial hand with elastic fingers for humanoid robot ROMAN

Abstract

The original design of multifingered gripper in the shape of human hand with flexible fingers dedicated for humanoid robot ROMAN is presented in the paper. The design work was concentated on ensuring that the hand can contact with a variety of different shape objects made of flexible materials of different properties as well as fragile objects requiring particular caution when manipulated. Additionally it was assumed that the gripper should ensure a satisfactory reliabilty level, required high functionality and easy maintenance. The project was based on the assumptions, that the final solution should characterized by high versatility, good adaptability and good robustness. Design methods and prototyping of a robotic hand is presented in the paper in details. In the real solution of the model, the plastic and composite materials were applied. In control systems, PIC controllers and PC computers have been used.