Deutsches Zentrum Fur Luft-Und Raumfahrt E.v.

Hong Liu

Peter Meusel

A robotic finger is provided that includes a base joint connected to a base member. By way of the base joint, a main finger member is connected to the base member for pivoting movements of the main finger member in two planes. The base joint has two driven main bevel gears opposite one another, and two likewise opposing intermediate bevel gears disposed between the main bevel gears. The main bevel gears are mounted rotatably at the base member and can be driven independently of one another through electric motors and an intermediate toothed belt. The two intermediate bevel gears are each rotatably mounted at support members connected to the main finger member. To protect the base joint, a curved cover bracket is provided.

Robotic finger and robotic hand

The force moment sensor is a monolithic disk-shaped mounting part () including a flat surface. The mounting part includes a first middle portion () of high rigidity with first force application locations (), at least three second portions (to) of medium rigidity configured circumferentially, each including two second force application locations () in the transition portion between juxtaposed second portions, strain relief portions () of low rigidity and at least three radially oriented connecting webs () and comprising a medium rigidity by a recess () of U-shaped cross-section being configured in the medium portions thereof. Mounted on the flat surface of the second portions () and of the connecting webs () are strain gauges () circuited in accordance with the principle of a Wheatstone bridge. From the measured values obtained thereby three forces (F, F, F) and three moments (M, M, M) can be defined.

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Wesseling, Germany

Hong Liu