Revolutionary Robotic Hand of the Future

人类的手是身体最复杂的结构之一。研究人员在用手指和拇指设计的精美夹具设计方面取得了进展。但是，他们尚未使用。目前，只使用简单的两根手指夹具，并且它们只完成了有限的任务范围。正在进行工作来开发更强大的五指版本，以接受更复杂的工作。

研究人员正在处理机器人手这将复制人类的手。每个人都有五个手指，每个手指有四个关节和三个自由度。每个手指接头都配有自开发的非接触角传感器和扭矩传感器。

Progress in microelectronics and micromechanics has paved the way for producing a multi-fingered hand with separately controllable fingers and joints that replicate the human hand. In fact, the German Aerospace Centre (DRL) has developed a robotic hand with the Harbin Institute of Technology (HIT).

由于微型和精确的驱动技术和高性能总线技术，这种开发为复制人手复制的敏感夹具手进行了新标准。新的DLR-HIT手II有五个手指，每个手指有四个关节和三次自由。手也比以前的版本更小且更轻。扣紧锥形部件需要四个手指，用拇指用作外部支撑。必须适当地控制和监测机械运动范围，以便充分利用手。

The motors in the DRL-HIT Hand II fit directly into the fingers. Particular attention was paid to the control processor’s information with respect to positioning and operating data. This configuration facilitates the discrete drive to operate effectively. Every finger joint is fitted with a self-developed, non-contacting angle sensor and a torque sensor.

A high-speed bus transmits the data flow. Rapid feedback that compares target and actual value is crucial for the function of the controller, particularly in precise and delicate applications. Besides data volume, transfer speed is also vital, which is why an internal real-time 25 Mbps high-speed bus, based on field programmable gate arrays (FGPA)s, was developed for the application. Three leads are required for the external serial connection of hand and control processor. The actual controls consisting of a signal processor on a PCI insert card is integrated into a standard PC. The interface provides a way for the hand to be controlled at the PC with all sensor data displayed on the screen.

Maxon motor’s EC 20 flat drives包括所包括，因为它们是便宜的，商业上可用的，并且在紧凑的空间内提供高功率。

每个手指都需要几个驱动器，它们是单独控制的。在这种情况下，每只手使用带有霍尔传感器的15个无刷直流电机。Maxon Motor的EC 20扁平驱动器包括廉价，可商购，并在紧凑的空间内提供高功率。电机和霍尔传感器采用10.4毫米长的单元，外径为21.2毫米。每个电机重15克。它们安装有来自HDUC 05范围的谐波驱动齿轮，其具有与电动机相同的直径。3 W电机可在12或24 V版本中提供，并提供8.04毫米的最大扭矩。良好的动态行为和预载的球轴承确保了控制命令的精确响应行为，包括改变旋转方向。数字霍尔传感器准确地将实际位置报告给控制器。电机闲置9,300 rpm。 Thanks to compact drive technology with feedback and rapid data transfer per bus technology, the new DLR-HIT Hand II can be controlled very sensitively and precisely.

Maxon Motor
www.maxonmotorusa.com

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