MODULAR DIVISION METHODS OF HUMANOID ROBOT HANDBASED ON MODULAR DESIGN IDEA

摘要

Modular design method is a modern design method based on function analysis, which has plenty ofadvantages. An important task in applying modular design method is how to divide a big system. According to differentview point, variant results can be obtained. If a finger mechanism unit is designed out as a module, which can beintegrated into a robot hand, a whole robot hand can be composed of them and a palm. This paper describes the method.Some applications in humanoid multi-fingered hand with modular technology have introduced. In the modular divisionschemes of humanoid multi-fingered hand, this paper proposed two system divisions, which are successfully applied inthe designs of TH-1 Hand and TH-2 Hand. These system divisions help authors to highly simplify design process,decrease cost and shorten developing circle. The humanoid multi-fingered hands designed with the modular design havemany advantages: short developing period, reliable mechanism, high compact, easy to manufacturing and maintaining,low cost, etc.