견고한 파지를 위한 유연 힌지 기반 모듈형 손가락 설계

Abstract

This paper presents the design and development of a flexible hinge-based modular finger for robust grasping applications, particularly in military robotics. The innovative use of flexible hinges enhances the adaptability and compliance of the gripper, allowing it to maintain a stable grip on objects of various shapes and sizes. The modular design of the fingers enables versatile configurations, making the system highly adaptable to different operational requirements. Experimental evaluations were conducted to assess the performance of the 4 modular finger-equipped gripper system, focusing on its gripping strength and stability. The results demonstrate that the gripper system can achieve high levels of grasp stability, satisfying a grasping robustness of 6N/mm, ensuring reliable operation in complex and risky environments. The research highlights the potential of flexible hinge-based modular finger-equipped gripper systems to significantly advance the capabilities of military robotic systems, offering improved efficiency and reduced risk to human operators. This work contributes to the ongoing development of unmanned systems capable of performing critical tasks such as explosive ordnance disposal, reconnaissance, and material handling in military settings.