Robot-hand-is-the-direct-media-when-the-robot-needs-to-interact-with-the-environment-A-practical-robot-hand-applied-on-unstructured-environment-should-have-good-performance-in-force-speed-sensor-and-compact-size-which-presents-extreme-design-challeng

The proposed mechanism consists of a combination of a planetary gear transmission and a worm gear transmission. The planetary gear transmission is used to achieve high torque and low speed, while the worm gear transmission is used for high speed and low torque. By combining these two transmissions, the robot hand can achieve both high force and speed.

In addition to the hybrid transmission mechanism, the robot hand also incorporates sensors for feedback control. These sensors include force sensors, position sensors, and tactile sensors. The force sensors are used to measure the force applied by the robot hand to the environment, while the position sensors and tactile sensors are used to provide feedback on the position and contact force of the robot hand.

The compact size of the robot hand is achieved by using a lightweight and compact design. The main body of the robot hand is made of carbon fiber, which is both lightweight and strong. The fingers of the robot hand are also designed to be compact and flexible, allowing them to adapt to different shapes and sizes of objects.

In conclusion, the hybrid transmission mechanism proposed in this paper can significantly enhance the overall performance of the robot hand on force and speed. The incorporation of sensors for feedback control and the use of a compact design further improve the practicality of the robot hand for use in unstructured environments.