公开(公告)号：KR100451412B1

公开(公告)日：2004-10-06

申请号：KR1020010069841

申请日：2001-11-09

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  강봉수 ,  정우진 ,  이형진 ,  이종원

IPC: B25J15/00

CPC classification number: B25J15/10 ,  Y10S294/907

Abstract: A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A robot hand selectively drives a hooking movement and a horizontal movement of fingers with less number of driving units by having a clutch unit. A robot hand includes fingers with a strain gage and is able to control a grasping force by using a value measured by the strain gage.

Abstract translation: 机器人手指通过安装4关节链接，使得与具有较少驱动单元数量的人手指相似的钩动运动。 机器人手包括几个手指和四关节链接以实现手指的水平移动。 机器人手通过具有离合器单元来选择性地驱动具有较少数量的驱动单元的钩爪运动和手指的水平运动。 机器人手包括带有应变计的手指，并且能够通过使用由应变计测量的值来控制抓握力。

公开(公告)号：KR1020030039040A

公开(公告)日：2003-05-17

申请号：KR1020010069841

申请日：2001-11-09

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  강봉수 ,  정우진 ,  이형진 ,  이종원

IPC: B25J15/00

CPC classification number: B25J15/10 ,  Y10S294/907

Abstract: PURPOSE: A multi-branched robot hand is provided to enable a bending movement using a four links structure composed of joints to perform the robot hand operation similar with a real hand movement. CONSTITUTION: A multi-branched robot hand is composed of a first finger(A,B,C) composed of a first joint(A1,B1,C1) and more than two sections, a first module box(206,209), and hand base(213) attached to the first module box. The first joint(A1,B1,C1) engages one side of the upper section(201,204,207) with one side of the lower section(202,205,208). The fist module box(206,209) includes a second joint(A2,B2,C2) to engage one side of the upper portion with the other side of the lower section of the first finger to support the first finger. The multi-branched robot hand further comprises an auxiliary link for engaging one side of the upper section of the first finger with one side of the upper portion of the first module box. The auxiliary link forms a four-joints link structure with the upper section of the first joint, the lower section of the second joint, the auxiliary link, and the first module box.

Abstract translation: 目的：提供多分支机器人手，以使用由关节组成的四连杆结构进行弯曲运动，以与实际手部运动类似的机器人手动操作。 构成：多分支机器人手包括由第一接头（A1，B1，C1）和多于两个部分组成的第一指（A，B，C），第一模块盒（206,209）和手基 （213）附接到第一模块盒。 第一接头（A1，B1，C1）与上部（201,204,207）的一侧与下部（202,205,208）的一侧接合。 第一模块盒（206,209）包括第二接头（A2，B2，C2），用于将上部的一侧与第一手指的下部的另一侧接合以支撑第一手指。 多分支机器人手还包括用于将第一手指的上部的一侧与第一模块盒的上部的一侧接合的辅助连杆。 辅助连杆形成与第一接头的上部，第二接头的下部，辅助连接和第一模块箱的四接头连接结构。

公开(公告)号：KR100458284B1

公开(公告)日：2004-11-26

申请号：KR1020020042001

申请日：2002-07-18

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  강성철 ,  곽윤근 ,  장준현 ,  우춘규 ,  김연훈 ,  신경철 ,  정우진

IPC: B25J5/00

Abstract: PURPOSE: A four-articulated link mechanism driving system for a six-wheeled driving robot is provided to enable the robot to climb stairs, and to easily control the six-wheeled driving robot by simplifying the structure of the system. CONSTITUTION: A first link(1) connects a first wheel(100) with a second wheel(200), and is connected to a main body(4) by a joint mechanism(50) and to a second link(2) by a rotary joint(31). The second link is connected to a third wheel(300) and a third link(3) by a rotary joint(32). The third link is connected to the main body by a rotary joint(33).

Abstract translation: 目的：提供一种用于六轮驱动机器人的四关节连杆机构驱动系统，以使机器人爬上楼梯，并通过简化系统的结构来容易地控制六轮驱动机器人。 构成：第一连杆（1）将第一轮（100）与第二轮（200）连接，并且通过关节机构（50）连接到主体（4）并且通过第二连杆（2）连接到第二连杆 旋转接头（31）。 第二连杆通过旋转接头（32）连接到第三轮（300）和第三连杆（3）。 第三连杆通过旋转接头（33）连接到主体。

公开(公告)号：KR1020040008373A

公开(公告)日：2004-01-31

申请号：KR1020020042001

申请日：2002-07-18

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  강성철 ,  곽윤근 ,  장준현 ,  우춘규 ,  김연훈 ,  신경철 ,  정우진

IPC: B25J5/00

Abstract: PURPOSE: A four-articulated link mechanism driving system for a six-wheeled driving robot is provided to enable the robot to climb stairs, and to easily control the six-wheeled driving robot by simplifying the structure of the system. CONSTITUTION: A first link(1) connects a first wheel(100) with a second wheel(200), and is connected to a main body(4) by a joint mechanism(50) and to a second link(2) by a rotary joint(31). The second link is connected to a third wheel(300) and a third link(3) by a rotary joint(32). The third link is connected to the main body by a rotary joint(33).

Abstract translation: 目的：提供一种用于六轮驱动机器人的四关节连杆机构驱动系统，以使机器人能够爬楼梯，并通过简化系统的结构来轻松控制六轮驱动机器人。 构成：第一连杆（1）连接第一轮（100）与第二轮（200），并且通过联接机构（50）连接到主体（4），并且通过一个第二连杆 旋转接头（31）。 第二连杆通过旋转接头（32）连接到第三轮（300）和第三连杆（3）。 第三连杆通过旋转接头（33）与主体连接。