920-7 kurihara, Zama City, Kanagawa, Japan

DOUBLE Research and Deveropment Co.,LTD FA
ダブル技研株式会社 FA事業部
D-Hand ロボットハンド
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D-Hand ロボットハンド






The gripping operation was performed with a uniform gripping force (contact pressure) without a pressure sensor,
realizing a natural like fingertip thickness and shape close to the human body.
The power source in the human body [tendon] is reproduced with a link mechanism, by making all joints a series of interlocking links,
1 actuator input provides a uniform gripping force with the target object shape, the much awaited gripping operation becomes possible.

□Gripping operation is possible with one actuator (simplification of gripping planning and control)

□Actuator can be selected according to usage and utility (electric, pneumatic, hydraulic)

□The finger joint disperses the contact pressure appropriately, eliminating the need for a pressure sensor, enabling satble object gripping  







The D-Hand uses a “cooperating link mechanism” in the drive transmission path, with a “yajirobe-type” link mechanism,
it is now possible to select the finger joint position (joint angle) that can be held with the minimum necessary force
while maintaining the balance by dispersing the force on each joint. This cooperative link mechanism automatically adjusts to the
position of each finger appropriately, "sensitive gripping operation" is achieved during gripping operation by adjusting the force
so that the grip on the target object is evenly distributed.




Each finger has drive transmission link called “yajirobe type” which is joined by cooperative link mechanism unit to actuator
that creates movement to each joint. This time, until all fingers touch the outline of the object to be grasped the link continues
to operate and the reaction force (contact pressure) on each finger becomes automatically balance making the stable
gripping operation possible. The D-Hand can hold object shape and even shape with complex irregularities because
「cooperative link mechanism」different amounts of driving force can be transmitted to each finger, the shape to behold became
target of D-Hand “tensile amount = open / close finger” by realizing mechanical irregularities that conforms to familiar handling.






Finger Link Unit

D-Hand stable gripping comes with various types and shapes which the robot hand specializes in「grasp」and 「grip」 hold function
required by most users.

By linking the finger structure from special 「cooperative link mechanism」and 「four section link mechanism」which has versatility
that is not found in conventional specialized design robot hand up to now.

Type A3M

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In addition, by constraining each finger joint with a series of interlocking link mechanisms, an input by one actuator grips
the shape of the object with a uniform gripping force (contact pressure) , the target object shape and position is parallel to
the object to be gripped mechanically, by optimizing the configuration, the control of target gripping plan has been simplified
and versatility has been achieved.

D-Hand(Type A3H/A3M) can select the Finger type that is according to the shape and gripping posture of the target work.
Whichever Finger Type is selected, by keeping the required hold operation「grasp」and 「grip」 hold function of the robot hand
and installing the special「cooperative link mechanism」which has versatility not found on conventional specialized design robot
hand up to now. As a result, the conventional specially designed chuck hand has many types and multi-shape production
which is an issue on tool change can be greatly reduced, as a multi-hand can be used for general purposes.



Custom









Palm Unit


The D-Hand(TypeA3M) is a hand that has a small servo motor mounted at the palm which the arranged angle of the three fingers
can be changed automatically. With this feature, the variable angle can be changed depending on the gripping direction as shown
on the left figure as a more stable gripping operation can be achieved. *Type A3H can replace the fixed volt manually thus it
can perform similar functions

Palm Unit


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