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Area of Science:

  • Robotics
  • Materials Science
  • Mechatronics

Background:

  • Traditional robotic hands face challenges in accuracy, electromagnetic compatibility, and system complexity.
  • Limitations in structure, principles, and transmission hinder advanced manipulation capabilities.

Purpose of the Study:

  • To introduce a direct-drive rigid piezo robotic hand (PRH) for enhanced object manipulation.
  • To demonstrate the PRH's capability in achieving multi-degrees of freedom (DOFs) motion control.

Main Methods:

  • Construction of a PRH using functional piezoelectric ceramic with four piezo fingers.
  • Implementation of twelve motion DOFs for versatile object handling.
  • Development of an integrated system for practical applications.

Main Results:

  • The PRH achieved high adaptability in manipulating ten different objects using pre-planned gestures.
  • Specific motions were demonstrated: 2L (linear) and 1R (rotary) for plates, 1L and 1R for cylinders, and 3R for spheres.
  • The system showed promising prospects for ultra-precision manipulation devices.

Conclusions:

  • The developed PRH offers a new paradigm for multi-DOF motion manipulation in robotics.
  • This technology has potential applications from micro to macro scales.
  • The PRH overcomes limitations of traditional robotic hands, paving the way for advanced manipulation systems.