Piezo robotic hand for motion manipulation from micro to macro

Shijing Zhang, Yingxiang Liu (), Jie Deng, Xiang Gao, Jing Li, Weiyi Wang, Mingxin Xun, Xuefeng Ma, Qingbing Chang, Junkao Liu, Weishan Chen and Jie Zhao
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Shijing Zhang: Harbin Institute of Technology
Yingxiang Liu: Harbin Institute of Technology
Jie Deng: Harbin Institute of Technology
Xiang Gao: Harbin Institute of Technology
Jing Li: Harbin Institute of Technology
Weiyi Wang: Harbin Institute of Technology
Mingxin Xun: Harbin Institute of Technology
Xuefeng Ma: Harbin Institute of Technology
Qingbing Chang: Harbin Institute of Technology
Junkao Liu: Harbin Institute of Technology
Weishan Chen: Harbin Institute of Technology
Jie Zhao: Harbin Institute of Technology

Nature Communications, 2023, vol. 14, issue 1, 1-12

Abstract: Abstract Multiple degrees of freedom (DOFs) motion manipulation of various objects is a crucial skill for robotic systems, which relies on various robotic hands. However, traditional robotic hands suffer from problems of low manipulation accuracy, poor electromagnetic compatibility and complex system due to limitations in structures, principles and transmissions. Here we present a direct-drive rigid piezo robotic hand (PRH) constructed on functional piezoelectric ceramic. Our PRH holds four piezo fingers and twelve motion DOFs. It achieves high adaptability motion manipulation of ten objects employing pre-planned functionalized hand gestures, manipulating plates to achieve 2L (linear) and 1R (rotary) motions, cylindrical objects to generate 1L and 1R motions and spherical objects to produce 3R motions. It holds promising prospects in constructing multi-DOF ultra-precision manipulation devices, and an integrated system of our PRH is developed to implement several applications. This work provides a new direction to develop robotic hand for multi-DOF motion manipulation from micro scale to macro scale.

Date: 2023
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DOI: 10.1038/s41467-023-36243-3

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