Human-Like Characteristics for High Degree of Freedom Robotic Door- Opening End-Effector

摘要

In the field of military Unmanned Ground Vehicles (UGV's), military units are forced to sweep largely populated cities and towns in search of hostile enemies. These urban types of operations are referred to as MOUT (Military Operations on Urban Terrain). During urban operations, these UGV's encounter difficulties when opening doors. Current manipulator end effectors have these difficulties, because they are not designed to mimic human hand operations. This paper explains the mechanical nature of the Modular Universal Door Opening End-effector (MUDOE). MUDOE is a result of our development research to improve robotic manipulators ability to negotiate closed doors. The presented solution has the ability to mimic human hand characteristics when opening doors. The end-effector possesses an ability to maintain a high Degree of Freedom (DoF), and grasp the doorknob by applying equally distributed forces to all points of contact.