High Output Robot Hand with Retention Mechanism

Abstract

Disaster response robots require both high output and electrical power saving. This paper presents a new designed robot hand for extreme environments. The robot hand has four fingers with 12 joints and 12 degrees of freedom. The finger has a retention mechanism without electrical power for holding a grasped object. The retention mechanism consists of a motor, a reduction mechanism, a lock mechanism and elastic bodies. Fingertip force is larger than 125 N. Experiment results shows that the robot hand can keep the fingertip force without electrical power. The robot hand fills the requirements for high output and electrical power saving.