Figure 3: Finger leadscrew assembly Thefinger drive consists of a brushless DC motor equipped with an encoder and a 14to 1 planetary gear head. Coupled to the motors are stainless steel highflexibility flex shafts. The flex shafts are kept short in order to minimizevibration and protected by a sheath consisting of an open spring covered withTeflon. At the distal end of the flex shaft is a small modular leadscrewassembly (figure 3). This assembly converts the rotary motion of the flex shaftto linear motion. The assembly includes: a leadscrew which has a flex shaftconnection and bearing seats cut into it, a shell which is designed to act as aload cell, support bearings, a nut with rails that mate with the shell (inorder to eliminate off axis loads), and a short cable length which attaches tothe nut. The strain gages are mounted on the flats of the shell indicated infigure 3. The top of the leadscrew assemblies are clamped into the palm of thehand to allow the shell to stretch or compress under load, thereby giving adirect reading of force acting on the fingers. Earlier models _of the assemblycontained an integral reflective encoder cut into the leadscrew. This configurationworked well but was eliminated from the hand in order to minimize the wiring inthe hand.


遥控直升机制作 小型电动遥控飞机制作图


The design of a highly anthropomorphichuman scale robot hand for space based operations is described. This fivefinger hand combined with its integrated wrist and forearm has fourteenindependent degrees of freedom. The device approximates very well thekinematics and required strength of an astronaut's hand when operating througha pressurized space suit glove. The mechanisms used to meet these requirementsare explained in detail along with the design philosophy behind them.Integration experiences reveal the challenges associated with obtaining therequired capabilities within the desired size. The initial finger controlstrategy is presented along with examples of obtainable grasps.

Company’sstate-of-the-art motors and drives ensure safety and reliability onrecord-setting gondola system for Germany’s highest mountain

遥控直升机制作 小型电动遥控飞机制作图


Initial Finger Control Design and Test

The demandsposed by the Bayerische Zugspitzbahn for trouble-free operation andavailability were particularly challenging, requiring a system capable ofoperating 365 days a year, regardless of wind and weather. In such a setting,safe and comfortable transport through the air depends on the perfect interplayof motors, drives and mechanics.

图片 1











HB IES-130





HB IES-100










预计国际空间站(ISS)上的车外活动(EVA)要求相当可观。这些维护和建设活动是昂贵且危险的。宇航员必须在可能离开空间站的相对安全之前进行广泛的准备,包括预先呼吸太空服空气压力长达4小时。一旦在室外,机组人员必须非常谨慎,以防止损坏宇航服。美国国家航空航天局约翰逊航天中心的机器人系统技术处目前正在开发机器人系统,以减少空间站人员的EVA负担,并且服务于快速反应能力。一个这样的系统,Robonaut正在设计和建造,以便与只有人机界面的外部空间站系统接口。为此,Robonaut手[1]提供了高度的拟人灵巧性,以确保与许多这些接口的兼容性。在过去的二十年中,已经开发出许多破纪录的灵巧机器人手[2-7]。这些设备使得机器人操纵器能够抓住和操纵未被设计为机器人的物体兼容。虽然有几个夹具[8-12]设计用于空间使用,有些甚至在太空中进行了测试[8,9,11],但没有灵巧的机器人手在EVA条件下飞行。 Robonaut手是空间EVA使用中正在开发的几只手之一[13,14],它的尺寸和能力最接近适合宇航员的手。

twin-motor design

The back of the swashplate背面的斜盘式

1、性能优异,寿命长,维护成本低; 2、负载大,刚性好;


operates in more than 100 countries with about 136,000 employees.p;

* 1 ball bearing * 1 plastic spacer * rod end set ( for holding of the aluminum ball in the swashplate ) * aluminum ball ( from ball linkage set 3*5.8 ) * aluminum ring * epoxy adhesive 一球轴承 一塑胶间隔 棒年底成立(持有的铝球,在斜盘式) 铝球(从球的联系,设置3 * 5.8 ) 铝环 环氧胶粘剂 The rod end set has first been cut into a round shape. It is then inserted into the plastic spacer as shown below: 该杆端设置首先被削减为一个圆形。[wwW.nIUBb.nET)这是然后插入到塑料间隔,如下所示:



“InSwitzerland, most cableways and chairlifts use ABB motors and drives,’’ saysHans-Georg Krabbe, Chairman of the Board of ABB AG, Germany. “We are absolutelydelighted to contribute to such a unique project in Germany, too.’’

图片 2



Pulling thegondolas such a long distance at steeps gradients of as much as 104 percent(about 46°) and a speed of 10.6 meter per second requires significant power,which is supplied by two 800-KW three-phase AC motors from ABB that are housedin the cableway’s Valley Station.

helicopters are very clean and give out no terrible noise at all. In one nightfall, I visited a web site, which is about how to make a hand made RC helicopter. I was totally impressed and started

  The product uses precision planetary roller screw drive technology, built-in brushless servo motor,applicable to a low,medium and high-level performance motion control system. The product will be built integrated brushless servo motor and ball screw drive structure, servo motor rotor rotary motion into linear motion directly by putting a ball screw mechanism. The product can be customized according to customer demand for personalized service.


In the case ofthe world-famous Jungfrau Railway, a 9-kilometer cog railway that beganoperation in 1912, ABB was responsible for the electrification that made theroute possible. Today, ABB technologies still ensure that the Jungfrau Railwaysafely carries more than a million passengers a year – even during heavysnowfalls – to the Jungfraujoch, which at 3,454 meters above sea level isEurope’s highest train station.

图片 3


Figure12:ExamplesoftheRobonaut Hand

This pressrelease features multimedia. View the full release here:http://www.businesswire.com/news/home/20171221005676/en/

小型电动遥控直升机制作 以下文章是通过google翻译所得: Little tips about building your own RC helicopter Flying RC helicopter is really very exhilarating. Their versatility gives a RC pilot a complete access to the three-dimensional space in such a way that no other machines can! I have played RC helicopter for more than one year but still find that I have just learnt a few tricks that it can perform. There are generally two micro-helicopters

3、发热量小,速度控制精度高; 4、结构紧凑,外形美观,应用范围广;

“Today, it isall about making advancements in terms of energy efficiency,” says UeliSpinner, Head of Sales, Key Accounts & Service ABB AG, Switzerland. “Butalso where support, maintenance and service are concerned, we are the preferredpartners of cableway operators.’’

图片 4



The cablewaybreaks three world records for a pendular, or hanging, cable car system: at 127meters, its steel column is the tallest, with 1,950 meters it overcomes thehighest elevation difference and with a total run of 3,213 meters from basestation to peak, it has the longest span.

Make sure that the aluminum ball placed in the rod end can be moved freely. 2 holes were drilled on the plastic spacer in order to house two screws that used to hold the ball linkage. 作出肯定的是,铝球,放置在杆端关节轴承可以提出自由。二洞钻于塑胶间隔,以便向内务两个螺丝用来举行球的联系。

The Robonaut Hand (figure 1) has a total offourteen degrees of freedom. It consists of a forearm which houses the motorsand drive electronics, a two degree of freedom wrist, and a five finger, twelvedegree of freedom hand. The forearm, which measures four inches in diameter atits base and is approximately eight inches long, houses all fourteen motors, 12separate circuit boards, and all of the wiring for the hand. Y= Figure 2: Handcomponents The hand itself is broken down into two sections (figure 2): adexterous work set which is used for manipulation, and a grasping set whichallows the hand to maintain a stable grasp while manipulating or actuating agiven object. This is an essential feature for tool use [13]. The dexterous setconsists of two three degree of freedom fingers (pointer and index) and a threedegree of freedom opposable thumb. The grasping set consists of two, one degreeof freedom fingers (ring and pinkie) and a palm degree of freedom. All of thefingers are shock mounted into the palm (figure 2). In order to match the sizeof an astronaut's gloved hand, the motors are mounted outside the hand, andmechanical power is transmitted through a flexible drive train. Past handdesigns [2,3] have used tendon drives which utilize complex pulley systems orsheathes, both of which pose serious wear and reliability problems when used inthe EVA space environment. To avoid the problems associated with tendons, thehand uses flex shafts to transmit power from the motors in the forearm to the fingers. The rotary motionof the flex shafts is converted to linear motion in the hand using smallmodular leadscre was semblies. The result is acompact yet rugged drive train.Over all the hand is equipped with forty-three sensors not including tactilesensing. Each joint is equipped with embedded absolute position sensors andeach motor is  equipped with incrementalencoders. Each of the leadscrew assemblies as well as the wristball joint linksare instrumented as load cells to provide force feedback.

motion, industrial automation and power grids, serving customers in utilities,

图片 5



In my design, the swashplate is fixed on the main shaft. This is simply done by applying some glue between the aluminum ball and the shaft在我的设计,斜盘式,这是一个固定在主井。(wWw.NIUbB.nET)这根本是做了一些胶水的应用之间的铝球和轴


is a pioneering technology leader in electrification products, robotics and

The plan of the helicopter had finally been completed. It is not very well drew. The current plan available is only for the fixed pitch design. Please click the above photo for the plan. 该计划的直升机终于完成。[wWW.nIubb.net)这不是很好的提请。根据目前的计划,可仅适用于固定摊位的设计。请按上述照片的计划。 Length 410mm Height 150mm Flying Weight 250g (include 700mAh battery pack) Control system Hiller control system / fixed pitch Main rotor diameter 490mm Tail rotor span 146mm Transmission rate 1:18 (main rotor) 1:3.5 (tail rotor) Power speed 300 motor (main rotor) tail boom 280mm receiver GWS R4P ( 4 channel, 3.8g ) ESC Jeti 05 ( main rotor, 5A, 9g ) JMP-7 ( tail rotor, 4A, 0.7g ) Gyro GWS-PG-03 ( 7g with case ) servo Hitec HS-50 * 2 ( 0.09sec/60° , 0.6kg/cm, 5.8g ) Battery Sanyo 700mAh * 7


Making therecord-breaking new cableway feasible for the operator, Bayerische ZugspitzbahnBergbahn AG, is an array of innovative technology from ABB, which has extensiveexperience solving transportation challenges in the Alps.

图片 6


Since the late19thcentury, ABB has built a lasting reputation for safe, reliableand energy-efficient transportation in the alpine region.

图片 7


ABB’s alpine

in the RC market. I have already planned to buy one of them as they can fly inside the living room and even take off on ours hand. Unlike those operated by gas, these electric


And the world’ssteepest funicular railway recently went into operation in Stoos in the SwissAlps, a 1.7-kilometer route whose two 136-passenger cable cars are powered byhigh-efficiency electric motors designed and built by ABB. The company alsosupplied other key components for the system.

Making the Swashplate Swashplate is the most sophisticated part of a RC helicopter. It seems to be a simple unit of a factory one. However, it is a whole new thing of making one by yourself. Here is my design based on my own little knowledge about the swashplate. What you need includes:斜盘式是最先进的一个组成部分钢筋混凝土直升机。这似乎是一个简单的单位,一家工厂之一。不过,这是一个整体的新事物,使一所自己。这里是我设计的基础上我自己的知识甚少,有关斜盘式。您所需要的包括:


industry and transport & infrastructure globally. Continuing a more than

图片 8


digitalization and driving the Energy and Fourth Industrial Revolutions. ABB

designing my own helicopter. Here is my helicopter: 小秘诀是关于建立您自己的钢筋混凝土直升机 飞行区局的直升机,实在是非常令人振奋的。(WWw.nIUBB.NET]他们的多才多艺给出了钢筋混凝土试验一个完整的获得三个三维空间,在这样一种方式没有其他机器可以!我有发挥的钢筋混凝土直升机以上的一年,但仍然觉得我刚才已经学到了一些技巧,它可以执行。 有一般两个微型直升机,在钢筋混凝土市场。我已计划购买其中一人,因为他们可以乘飞机内的客厅,甚至起飞,对我们的手。不像那些经营的气体,这些电动直升机,是很干净,并给予指出并没有可怕的噪音在所有。在一入夜,我访问了一个网站,这是有关如何制作手工钢筋混凝土直升机。我是完全的印象,并开始设计自己的直升机。这里是我的直升机

 Figure 6: Decoupling link The second and thirdjoints of the dexterous fingers are directly linked so that they close withequal angles. These joints are driven by a separate leadscrew assembly througha decoupling linkage (figure 6). The short cable on the leadscrew assembly isattached to the pivoting cable termination in the decoupling link. The flex inthe cable allows the actuation to pass across the two degree of freedom basejoint, without the need for complex mechanisms. The linkage is designed so thatthe arc length of the cable is nearly constant regardless of the position ofthe base joint (compare arc A to arc B in figure 6). This makes the motion ofdistal joints approximately independent of the base joint. figure 2 has aproximal and distal segment and is similar in design to the dexterous fingersbut has significantly more yaw travel and a hyper extended pitch. The thumb isalso mounted to the palm at such an angle that the increase in range of motionresults in a reasonable emulation of human thumb motion. This type of mountingenables the hand to perform grasps that are not possible with the common practiceof mounting the thumb directly opposed to the fingers [2,3,14]. The thumb basejoint has 70 degrees of yaw and 110 degrees of pitch. The distal joint has 80degrees of pitch. Linkages Finger Mount Figure 7:Grasping Finger The actuationof the base joint is the same as the dexterous fingers with the exception thatcammed detents have been added to keep the bend radius of the cable large atthe extreme yaw angles. The distal segment of the thumb is driven through adecoupling linkage in a manner similar to that of the manipulating fingers. Theextended yaw travel of the thumb base makes complete distal mechanicaldecoupling difficult. Instead the joints are decoupled in software.

The systemreplaces the 50-year-old Eibsee cableway and will help overcome the Eibsee’snotoriously long waiting times by transporting nearly three times the number ofpassengers per hour.

遥控直升机制作 小型电动遥控飞机制作图 2019-01-11 09:19 分类:资讯 阅读()

 3.6 Wrist/Forearm

125-year history of innovation, ABB today is writing the future of industrial

Making the Swashplate


Long queueswaiting to ascend Germany’s tallest mountain may now be history. And that isnot the only thing historical about the new ABB-powered cable car system thatopened today and can take as many as 580 passengers an hour to the Zugspitze,the Bavarian Alps peak that is Germany’s highest.

遥控直升机制作 小型电动遥控飞机制作图



Before any operation can occur, basicposition control of the Robonaut hand joints must be developed. Depending onthe joint, finger joints are controlled either by a single motor or anantagonistic pair of motors. Each of these motors is attached to the fingerdrive train assembly shown in figure 3. A simple PD controller is used toperform motor position control tests. When the finger joint is unloaded,position control of the motor drive system is simple. When the finger isloaded, two mechanical effects influence the drive system dynamics. The flexshaft, which connects the motor to the lead screw, winds up and acts as atorsional spring. Although adding an extra system dynamic, the high ratio ofthe lead screw sufficiently masks the position error caused by the state of theflex shaft for teleoperated control. The second effect during loading is theincreased frictional force in the lead screw. The non-backdrivable nature ofthe motor drive system effectively decouples the motor from the applied force.Therefore, during joint loading, the motor sees the increasing torque requiredto turn the lead screw. The motor is capable of supplying the torque requiredto turn the lead screw during normal loading. However, thermal constraintslimit the motor's endurance at high torque. To accommodate this constraint, thecontroller incorporates force feedback from the strain gauges installed on thelead screw shell. The controller utilizes the non-back drivability of the motordrive system and properly turns down motor output torque once a desired forceis attained. During a grasp, a command to move in a direction that willincrease the force beyond the desired level is ignored. If the forced rops offor a command in a direction that will relieve the force is issued, the motor revertsto normal position control operation. This control strategy successfully lowersmotor heating to acceptable levels and reduces power consumption. To perform jointcontrol, the kinematics, which relates motor output joint output, must be determined. As statedearlier, due to varying cable interactions a closed form kinematics algorithm isnot tractable. Once the finger joint hall-effect based position sensors arecalibrated using are solver, a semi-autonomous kinematic calibration procedure forboth forward and inverse kinematics is used to build look-up tables. Variationsbetween kinematics and hall-effect sensor outputs during operation are seen inregions where the pre-loading springs are not effective. Designs using differentspring strategies are underdevelopment to resolve this problem. To enhance positioningaccuracy, a closed loop finger joint position controller employing hall-effect sensorposition feedback is used as part of this kinematic calibration procedure. ableto successfully manipulate many EVA tool.



SeveralexampletoolmanipulationsusingtheRobonauthand underteleoperatedcontrolareshowninfigures11and12. Figure11:ExamplesoftheRobonaut Handusingenvelopingpowergraspstoholdtools An importantsafetyfeatureof thehand,itsabilityto passivelycloseinresponsetoacontactonthebackof thefingers,causesproblemsfor closedloopjoint controlduringnormaloperation.Furtherrefinementof the kinematiccalibrationandthestraingaugeforcesensorsirequiredtoreliablydeterminewhenthefingersarebeing uncontrollablycosed.Oncethisinformation, alongwithabettermodelforthedrivetraindynamicsisavailable,thejointcontrollercanbemodifiedtodistinguishteloaded fromthenormaloperatingmode.Althoughconsiderableworkstillneedstobedone,joint controlsatisfactoryforteleoperatedcontrolof thehand hasbeenattained. For initial tests,the handwascontrolledin joint modefrominputsderivedfromtheCyberglove®wornbytheoperator.TheCybergloveuses bendsensors,whichareinterpretedbytheCyberglove electronicstodeterminethepositionof 18actionsof theoperator'shand. Someof theseactionsareabsolute positionsoffingerjointswhileotherarerelativemotions betweenjoints.Thechallengeisdevelopingamapping betweenthe 18 absoluteandrelativejointpositions determinedby theCybergloveandthe12jointsof the Robonaut hand. Thismapping must result in the Robonaut hand tracking the operator's hand as well aspossible. While some joints are directly mapped, others required heuristic algorithmsto fuse data from several glove sensors to produce a hand joint position command.In conjunction with an auto mated glove calibration program, a satisfactory mappingis experimentally obtainable.


Finger Drive Train








手指的底座接头具有两个自由度:偏航( / -


The requirements for interacting withplanned space station EVA crew interfaces and tools provided the starting pointfor the Robonaut Hand design [1]. Both power (enveloping) and dexterous grasps(finger tip) are required for manipulating EVA crew tools. Certain toolsrequire single or multiple finger actuation while being firmly grasped. Amaximum force of 20 lbs. and torque of 30 in-lbs are required to remove andinstall EVA orbital replaceable units (ORUs) [15]. All EVA tools and ORUs mustbe retained in the event of a power loss. It is possible to either buildinterfaces that will be both robotically and EVA compatible or build a seriesof robot tools to interact with EVA crew interfaces and tools. However, bothapproaches are extremely costly and will of course add to a set of spacestation tools and interfaces that are already planned to be quite extensive.The Robonaut design will make all EVA crew interfaces and tools roboticallycompatible by making the robot's hand EVA compatible. EVA compatibility isdesigned into the hand by reproducing, as closely.as possible, the size,kinematics, and strength of the space suited astronaut hand and wrist. Thenumber of fingers and the joint travel reproduce the workspace for apressurized suit glove. The Robonaut Hand reproduces many of the necessarygrasps needed for interacting with EVA interfaces. Staying within this sizeenvelope guarantees that the Robonaut Hand will be able to fit into all therequired places. Joint travel for the wrist pitch and yaw is designed to meetor exceed the human hand in a pressurized glove. The hand and wrist parts are  sizedto reproduce the necessary strength to meet maximum EVA crew requirements.Figure1: Robonaut Hand Control system design for a dexterous robot handmanipulating a variety of tools has unique problems. The majority of theliterature available, summarized in [2,16], pertains to dexterous manipulation.This literature concentrates on using three dexterous fingers to obtain forceclosure and manipulate an object using only fingertip contact. While useful,this type of manipulation does not lend itself to tool use. Most EVA tools arebest used in an enveloping grasp. Two enveloping grasp types, tool and power,must be supported by the tool-using hand in addition to the dexterous grasp.Although literature is available on enveloping grasps [17], it is not asadvanced as the dexterous literature. The main complication involvesdetermining and controlling the forces at the many contact areas involved in anenveloping grasp. While work continues on automating enveloping grasps, a tele-operationcontrol strategy has been adopted for the Robonaut hand. This method ofoperation was proven with the NASA DART/FITT system [18]. The DART/FITT systemutilizes Cyber glove® virtual reality gloves, worn by the operator, to controlStanford/YPL hands to successfully perform space relevant tasks. 2.1 SpaceCompatibility EVA space compatibility separates the Robonaut Hand from manyothers. All component materials meetoutgassing restrictions to prevent contamination that couldinterfere with other space systems. Parts made of different materials aretoleranced to perform acceptably under the extreme temperature variationsexperienced in EVA conditions. Brushless motors are used to ensure long life ina vacuum. All parts are designed to use proven space lubricants.



The requirements for extra-vehicularactivity (EVA) onboard the International Space Station (ISS) are expected to beconsiderable. These maintenance and construction activities are expensive andhazardous. Astronauts must prepare extensively before they may leave therelative safety of the space station, including pre-breathing at space suit airpressure for up to 4 hours. Once outside, the crew person must be extremelycautious to prevent damage to the suit. The Robotic Systems Technology Branchat the NASA Johnson Space Center is currently developing robot systems toreduce the EVA burden on space station crew and also to serve in a rapidresponse capacity. One such system, Robonaut is being designed and built tointerface with external space station systems that only have human interfaces.To this end, the Robonaut hand [1] provides a high degree of anthropomorphicdexterity ensuring a compatibility with many of these interfaces. Many groundbreaking dexterous robot hands [2-7] have been developed over the past twodecades. These devices make it possible for a robot manipulator to grasp andmanipulate objects that are not designed to be robotically M. A. DiftlerAutomation and Robotics Department Lockheed Martin Houston, Texas 77058 diftler@jsc.nasa.gov Fax: 281-244-5534 compatible. While several grippers [8-12] havebeen designed for space use and some even tested in space [8,9,11], nodexterous robotic hand has been flown in EVA conditions. The Robonaut Hand isone of several hands [13,14] under development for space EVA use and is closestin size and capability to a suited astronaut's hand.

Robonaut’s hands set it apart from any previous space manipulator system. These hands can fit into all the same places currently designed for an astronaut’s gloved hand. A key feature of the hand is its palm degree of freedom that allows Robonaut to cup a tool and line up its long axis with the roll degree of freedom of the forearm, thereby, permitting tool use in tight spaces with minimum arm motion. Each hand assembly shown in figure 3 has a total of 14 DOFs, and consists of a forearm, a two DOF wrist, and a twelve DOF hand complete with position, velocity, and force sensors. The forearm, which measures four inches in diameter at its base and is approximately eight inches long, houses all fourteen motors, the motor control and power electronics, and all of the wiring for the hand. An exploded view of this assembly is given in figure 4. Joint travel for the wrist pitch and yaw is designed to meet or exceed that of a human hand in a pressurized glove. Page 2 Figure 4: Forearm Assembly The requirements for interacting with planned space station EVA crew interfaces and tools provided the starting point for the Robonaut Hand design [1]. Both power and dexterous grasps are required for manipulating EVA crew tools. Certain tools require single or multiple finger actuation while being firmly grasped. A maximum force of 20 lbs and torque of 30 in-lbs are required to remove and install EVA orbital replaceable units (ORUs) [2]. The hand itself consists of two sections (figure 5) : a dexterous work set used for manipulation, and a grasping set which allows the hand to maintain a stable grasp while manipulating or actuating a given object. This is an essential feature for tool use [3]. The dexterous set consists of two 3 DOF fingers (index and middle) and a 3 DOF opposable thumb. The grasping set consists of two, single DOF fingers (ring and pinkie) and a palm DOF. All of the fingers are shock mounted into the palm. In order to match the size of an astronaut’s gloved hand, the motors are mounted outside the hand, and mechanical power is transmitted through a flexible drive train. Past hand designs [4,5] have used tendon drives which utilize complex pulley systems or sheathes, both of which pose serious wear and reliability problems when used in the EVA space environment. To avoid the problems associated with tendons, the hand uses flex shafts to transmit power from the motors in the forearm to the fingers. The rotary motion of the flex shafts is converted to linear motion in the hand using small modular leadscrew assemblies. The result is a compact yet rugged drive train. Figure 5: Hand Anatomy Overall the hand is equipped with forty-two sensors (not including tactile sensing). Each joint is equipped with embedded absolute position sensors and each motor is equipped with incremental encoders. Each of the leadscrew assemblies as well as the wrist ball joint links are instrumented as load cells to provide force feedback. In addition to providing standard impedance control, hand force control algorithms take advantage of the non-backdriveable finger drive train to minimize motor power requirements once a desired grasp force is achieved. Hand primitives in the form of pre-planned trajectories are available to minimize operator workload when performing repeated tasks.

Figure 4: Dexterous finger




图1:Robonaut手控系统设计灵巧的机器人手操纵各种工具具有独特的问题。在[2,16]中总结的大多数文献都涉及到灵巧的操纵。这些文献集中于使用三个灵巧手指来获得力闭合并仅使用指尖接触来操纵物体。虽然有用,但这种类型的操作不适用于工具使用。大多数EVA工具最适合用于包围式抓握。除了灵巧的抓握之外,还必须使用工具用手来支撑两种包络抓握类型,工具和力量。虽然文献可用于包络抓握[17],但它并不像灵巧手那样先进。主要的复杂性包括确定和控制涉及包络抓握的许多接触区域的力。虽然自动化包络抓握的工作仍在继续,但Robonaut手已采用远程操作控制策略。美国国家航空航天局DART / FITT系统证明了这种操作方法[18]。 DART / FITT系统使用由操作员佩戴的Cyber​​glove®虚拟现实手套来控制Stanford / YPL手以成功执行空间相关任务。


The grasping fingers have three pitchjoints each with 90 degrees of travel. The fingers are actuated by oneleadscrew assembly and use the same cam groove (figure 5) in the proximalfinger segment half shell as with the manipulating fingers. The 7-bar fingerlinkage is similar to that of the dexterous fingers except that the decouplinglink is removed and the linkage ties to the finger mount (figure 7). In thisconfiguration each joint of the finger closes down with approximately equalangles. An alternative configuration of the finger that is currently beingevaluated replaces the distal link with a stiff limited travel spring to allowthe finger to better conform while grasping an object.

 3 Design

 3.4 Thumb




操纵EVA乘员工具需要力量(包络)和灵巧的抓握(指尖)。某些工具需要单手或多手指动作,同时牢牢抓住。 20磅的最大力量。并需要30英寸磅的扭矩来拆卸和安装EVA轨道可更换单元(ORU)[15]。

 1 Introduction





 设计手腕(图9)提供了无限制的通过,以最大化手指柔性轴的弯曲半径,同时接近加压宇航员手套的手腕节距和偏航行程。总行程为 /- 70度的俯仰和 /- 30度的偏航。这两条轴线相互交叉,并与前臂滚动轴的中心线相交。当与Robonaut Arm [19]连接时,这三个轴线结合在手腕袖口的中心,产生高效的运动学解决方案。袖套通过减震器安装在前臂上,以增加安全性。





using dexterousgraspsforfinetoolmaipulationTofacilitatetestingofthehandbaselevelpadsasshown infigures11,12werefabricatedfromDow Cornings Silastic®E. Thepadsprovideanonslipcompliant surfacenecessary forpositivelygraspinganobject.Thesepadswillserveasthefoundationfortactilesensorsandbe coveredwithaprotectiveglove.Futureplansincludethedevelopment of agraspcriteriameasureforthestabilityofthehandgrasp.Thesecriteriawillbeusedtoassisttheoperatorindeterminingif agrasp isacceptable.Sincethebaselineoperationplandoesnot involveforcefeedbacktotheoperator,visualfeedback onlymaybeinsufficient toproperlydetermineif agraspisstable.Usingsomeknowledgeof theobjectwhichisbeinggraspedinconjunctionwiththeexistingleadscrew forcesensorsandasmallsetofadditional tactilesensors installedonthefingersandpalm,thecontrolsystemwilldeterminetheacceptabilityof thegraspandindicatethat measuretotheoperator.Theoperatorcanthendecide howbestousethisdatainreconfiguringthegrasptoa morestableconfiguration.Thisgraspcriteriameasurecouldevolveintoanimportantpartof anautonomous graspingsystem. 6 Conclusions TheRobonaut Hand is presented. This highly anthropomorphic human scale hand builtat the NASA Johnson Space Center is designed to interface with EVA crewinterfaces thereby increasing the number of robotically compatible operationsavailable to the International Space Station. Several novel mechanisms aredescribed that allow the Robonaut hand to achieve capabilities approaching thatof an astronaut wearing a pressurized space suited glove. The initial jointbased control strategy is discussed and example tool manipulations areillustrated. References 1. Lovchik, C. S., Difiler, M. A., Compact DexterousRobotic Hand. Patent Pending. 2. Salisbury, J. K., & Mason, M. T., RobotHands and the Mechanics of Manipulation. MIT Press, Cambridge, MA, 1985. 3.Jacobsen, S., et al., Design of the Utah/M.I.T. Dextrous Hand. Proceedings ofthe IEEE International Conference on Robotics and Automation, San Francisco, CA,1520-1532, 1986. 4. Bekey, G., Tomovic, R., Zeljkovic, I., Control Architecturefor the Belgrade/USC Hand. Dexterous Robot Hands, 136-149, Springer-Verlag, NewYork, 1990. 5. Maeda, Y., Susumu, T., Fujikawa, A., Development of anAnthropomorphic Hand (Mark-l). Proceedings of the 20 th International Symposiumon Industrial Robots, Tokyo, Japan, 53-544, 1989.


Grasping Fingers


Figure 9 Wrist mechanism

手由两部分组成(图5):一个用于操作的灵巧工作组,以及一个抓握组件,它允许手在操纵或启动给定物体时保持稳定的抓握。这是工具使用的基本特征[3]。灵巧套装由两个3 DOF手指(食指和中指)和一个3 DOF可对折手指组成。抓握组由两个单DOF手指(无名指和小指)和一个手掌自由度组成。所有的手指都被安装在手掌上。为了匹配宇航员戴着手套的手的大小,电机安装在手外,机械动力通过柔性传动系传递。


手臂的设计约束:   20磅的最大力和30英寸磅的扭矩






 COMMON SHAFT PALM CASTING The wrist isactuated in a differential manner through two linear actuators (figure 9). Thelinear actuators consist of a slider riding in recirculating ball tracks and acustom, hollow shaft brushless DC motor with an integral ballscrew. Theactuators attach to the palm through ball joint links, which are mounted in thepre-loaded ball sockets. Figure 8: Palm mechanism The fingers are mounted tothe palm at slight angles to each other as opposed to the common practice ofmounting them parallel to each other• This mounting allows the fingers to closetogether similar to a human hand. To further improve the reliability andruggedness of the hand, all of the fingers are mounted on shock loaders. Thisallows them to take very high impacts without incurring damage.



手部配备了42个传感器(不包括触觉感测)。// 每个关节都配有嵌入式绝对位置传感器,// 每个电机都配有增量式编码器。// 每个导螺杆组件以及手腕球关节连杆均被装备为应力传感器以提供力反馈。


  1. Ali, M., Puffer, R.,Roman, H., Evaluation of a Multifingered Robot Hand for Nuclear Power PlantOperations and Maintenance Tasks. Proceedings of the 5 th World Conference onRobotics Research, Cambridge, MA, MS94-217, 1994. 7. Hartsfield, J., SmartHands: Flesh is Inspiration for Next Generation of Mechanical Appendages. SpaceNews Roundup, NASA Johnson Space Center, 27(35), page 3, Houston, TX, 1988. 8.Carter, E. Monford, G., Dexterous End Effector Flight Demonstration,Proceedings of the Seventh Annual Workshop on Space Operations Applications andResearch, Houston, TX, 95-102, 1993. 9. Nagatomo, M. et al, On the Results ofthe MFD Flight Operations, Press Release, National Space Development Agency ofJapan, August, 1997. 10. Stieber, M., Trudel, C., Hunter, D., Robotic systemsfor the International Space Station, Proceedings of the IEEE InternationalConference on Robotics and Automation, Albuquerque, New Mexico, 3068-3073,1997. 11. Hirzinger, G., Brunner, B., Dietrich, J., Heindl, J., Sensor BasedSpace Robotics - ROTEX and its Telerobotic Features, IEEE Transactions onRobotics and Automation, 9(5), 649-663, 1993. 12. Akin, D., Cohen, R., Developmentof an Interchangeable End Effector Mechanism for the Ranger TeleroboticVehicle., Proceedings of the 28 th Aerospace Mechanism Symposium, Cleveland OH,79-89, 1994 13. Jau, B., Dexterous Tele-manipulation with Four Fingered HandSystem. Proceedings of the IEEE International Conference on Robotics andAutomation,. Nagoya, Japan, 338-343, 1995. 14. Butterfass, J., Hirzinger, G.,Knoch, S. Liu, H., DLR's Multi-sensory Articulated Hand Part I: HardandSoftware Architecture. Proceedings of the IEEE International Conference onRobotics and Automation, Leuven Belgium, 2081-2086, 1998. 15. ExtravehicularActivity (EVA) Hardware Generic Design Requirements Document, JSC 26626,NASA/Johnson Space Center, Houston, Texas, July,
    1. Shimoga, K.B., RobotGrasp Synthesis: A Survey, International Journal of Robotics Research, vol. 15,no. 3, pp. 230-266, 1996. 17. Mirza, K. and Orin, D., General Formulation forForce Distribution in Power Grasp, Proceedings of the IEEE InternationalConference on Robotics and Automation, p.880-887, 1994. 18. Li, L., Cox, B.,Diftler, M., Shelton, S. , Rogers, B., Development of a Telepresence ControlledAmbidextrous Robot for Space Applications. Proceedings of the IEEEInternational Conference on Robotics and Automation, Minneapolis, MN, 58-63,1996. 19. Li, L., Taylor, E., EWS Robonaut: Work in Progress, Proceedings ofthe International Symposium on Artificial Intelligence, Robotics and Automationin




As might be expected, many integrationchallenges arose during hand prototyping, assembly and initial testing. Some ofthe issues and current resolutions follow. Many of the parts in the hand useextremely complex geometry to minimize the part count and reduce the size ofthe hand. Fabrication of these parts was made possible by casting them inaluminum directly from stereo lithography models. This process yieldsrelatively high accuracy parts at a minimal cost. The best example of this isthe palm, which has a complex shape, and over 50 holes in it, few of which areorthogonal to each other. Finger joint control is achieved through antagonisticcable pairs for the yaw joints and pre-load springs for the pitch joints.Initially, single compression springs connected through ball links to the frontof the dexterous fingers applied insufficient moment to the base joints at thefull open position. Double tension springs connected to the backs of thefingers improved pre-loading over more of the joint range. However, desiredpre-loading in the fully open position resulted in high forces during closing.Work on establishing the optimal pre-load and making the preload forces linearover the full range is under way. The finger cables have presented bothmechanical mounting and mathematical challenges. The dexterous fingers usesingle mounting screws to hold the cables in place while avoiding cable pinch.This configuration allows the cables to flex during finger motion and yields areasonably constant lever arm. However assembly with a single screw isdifficult especially when evaluating different cable diameters. The thumb usesa more secure lock that includes a plate with a protrusion that securely pressesdown on the cable in its channel. The trade between these two techniques iscontinuing. Similar cable attachment devices are also evolving for the otherfinger joints. The cable flexibility makes closed form kinematics difficult.The bend of the cable at the mounting points as the finger moves is not easy tomodel accurately. Any closed form model requires simplifying assumptionsregarding cable bending and moving contact with the finger cams. A simplersolution that captures all the relevant data employs multi-dimensional datamaps that are empirically obtained off-line. With a sufficiently highresolution these maps provide accurate forward and inverse kinematics data. Thewrist design (figure 9) evolved from a complex multibar mechanism to a simplertwo-dimensional slider crank hook joint. Initially curved ball links connectedthe sliders to the palm with cams that rotated the links to avoid the wristcuff during pitch motion. After wrist cuff and palm redesign, the presentstraight ball links were achieved. The finger leadscrews are non-back drivableand in an enveloping grasp ensure positive capture in the event of a powerfailure. If power can not be restored in a timely fashion, it may be necessaryfor the other Robonaut hand [19] or for an EVA crew person to manually open thehand. An early hand design incorporated a simple back out ring that throughfriction wheels engaged each finger drive train and slowly opened each fingerjoint. While this works well in the event of a power failure, experiments withthe coreless brushless DC motors revealed a problem when a motor fails due tooverheating. The motor winding insulation heats up, expands and seizes themotor, preventing back-driving. A new contingency technique for opening thehand that will accommodate both motor seizing and power loss is beinginvestigated.







Integration Challenges

Using these custom mappings, operators are

 2 Design and Control Philosophy








所有EVA工具和ORU必须在发生断电时保留。可以构建兼容机器人和EVA的接口,或者构建一系列机器人工具来与EVA机组接口和工具进行交互。然而,这两种方法都是非常昂贵的,并且当然会增加一套空间站工具和接口,这些工具和接口已经计划得相当广泛。 Robonaut设计将使机器人的手EVA兼容,从而使所有EVA机组人机界面和工具机器人兼容。通过尽可能地再现适合宇航员手和手腕的空间的尺寸,运动学和强度,将EVA兼容性设计在手中。手指和联合行程的数量重现了加压套装手套的工作空间。 Robonaut手掌再现了与EVA界面交互所需的许多必要手段。保持在这个尺寸范围内保证Robonaut手将能够适应所有需要的地方。手腕节距和偏航的联合行程被设计为在加压手套中达到或超过人手。手部和腕部的尺寸可以重现必要的强度,以满足最大的EVA机组人员的要求。




C. S. Lovchik, H. A. Aldridge RoboticsTechnology Branch NASA Johnson Space Center Houston, Texas 77058 Iovchik@jsc.nasa.gov, haldridg@ems.jsc.nasa.gov Fax: 281-244-5534


抓握手指有三个俯仰关节,每个关节都有90度的行程。手指由一个导螺杆组件致动,并且在操作指状物的近端手指段半壳中使用相同的凸轮槽(图5)。 7-bar指形连杆与灵巧指形的指形连杆相似,不同之处在于去耦连杆被拆除并且连杆与手指支架连接(图7)。在这种配置中,手指的每个关节都以大致相等的角度关闭。当前正在评估的手指的替代配置用刚性有限行程弹簧代替远侧连杆,以允许手指在抓住物体时更好地顺应。

 Design The wrist (figure 9) provides anunconstrained pass through to maximize the bend radii for the finger flexshafts while approximating the wrist pitch and yaw travel of a pressurizedastronaut glove. Total travel is /- 70 degrees of pitch and /- 30 degrees ofyaw. The two axes intersect with each other and the centerline of the forearmroll axis. When connected with the Robonaut Arm [19], these three axes combineat the center of the wrist cuff yielding an efficient kinematic solution. Thecuff is mounted to the forearm through shock loaders for added safety. Figure10: Forearm The forearm is configured as a ribbed shell with six cover plates.Packaging all the required equipment in an EVA forearm size volume is achallenging task. The six cover plates are skewed at a variety of angles andkeyed mounting tabs are used to minimize forearm surface area. Mounted on twoof the cover plates are the wrist linear actuators, which fit into the forearmsymmetrically to maintain efficient kinematics. The other four cover plateprovides mounts for clusters of three finger motors (Figure 10). Symmetry isnot required here since the flex shafts easily bend to accommodate odd angles.The cover plates are also designed to act as heat sinks. Along with the motors,custom hybrid motor driver chips are mounted to the cover plates.


         一个带有与外壳配合的导轨的螺母(为了消除轴负载)以及连接到螺母上的短丝缆长度。     张力传感器安装在图3所示的壳体的平面上。将丝杠组件的顶部夹紧在手掌中,以允许壳体在负载下伸展或压缩,从而直接读取作用于手指。

Design of the NASA Robonaut Hand R1






The thumb is key to obtaining many of thegrasps required for interfacing with EVA tools. The thumb shown in The palmmechanism (figure 8) provides a mount for the two grasping fingers and acupping motion that enhances stability for tool grasps. This allows the hand tograsp an object in a manner that aligns the tool's axis with the forearm rollaxis. This is essential for the use of many common tools, like screwdrivers.The mechanism includes two pivoting metacarpals, a common shaft, and twotorsion springs. The grasping fingers and their leadscrew assemblies mount intothe metacarpals. The metacarpals are attached to the palm on a common shaft.The first torsion spring is placed between the two metacarpals providing a pivotingforce between the two. The second torsion spring is placed between the secondmetacarpal and the palm, forcing both of the metacarpals back against the palm.The actuating leadscrew assembly mounts into the palm and the short cableattaches to the cable termination on the first metacarpal. The torsion springsare sized such that as the leadscrew assembly pulls down the first metacarpal, thesecond metacarpal folows a troughly half the angle of the first. In this waythe palm is able to cup in a way similar to that of the human hand without thefingers colliding.

 Thethree degree of freedom dexterous fingers (figure 4) include the finger mount,a yoke, two proximal finger segment half shells, a decoupling link assembly, amid finger segment, a distal finger segment, two connecting links, and springsto eliminate backlash (not shown in figure). Figure 5 Finger base cam The basejoint of the finger has two degrees of freedom: yaw ( /- 25 degrees) and pitch(I00 degrees). These motions are provided by two leadscrew assemblies that workin a differential manner. The short cables that extend from the leadscrewassemblies attach into the cammed grooves in the proximal finger segments halfshells (figure 5). The use of cables eliminates a significant number of jointsthat would otherwise be needed to handle the two degree of freedom base joint.The cammed grooves control the bend radius of the connecting cables from theleadscrew assemblies (keeping it larger to avoid stressing the cables andallowing oversized cables to be used). The grooves also allow a nearly constantlever arm to be maintained throughout the full range of finger motion. Becausethe connecting cables are kept short (approximately I inch) and their bendradius is controlled (allowing the cables to be relatively large in diameter(.07 inches)), the cables act like stiff rods in the working direction (closingtoward the palm) and like springs in the opposite direction. In other words,the ratio of the cable length to its



Dexterous Fingers

diameter is such that the cables are stiff enough to push the finger openbut if the finger contacts or impacts anobject the cables will buckle, allowing the finger to collapse out of the way.