Design and Analysis of Anthropomorphic Robot Hand

Title
Design and Analysis of Anthropomorphic Robot Hand
Authors
이석원이용훈이용권박종현
Keywords
Robot Hand; Parallel actuated; Anthropomorphic hand; multi-fingered hand
Issue Date
2009-08
Publisher
JSME2009-RoboMec
Citation
, 2A2-C10(1)-2A2-C10(3)
Abstract
According to the study of grasping of the human hand, it is noted that each phalanx of finger are engaged with another phalanx. The following paper deals with design and analysis of an anthropomorphic robot hand that each finger is composed two linear actuators with linkage knuckles. The robotic hands have four fingers and each finger is actuated by coupled linear actuators like parallel mechanism. Additionally, add one degree of freedom to palm so that each finger and thumb can oppose. The opposition of thumb grants dexterous of manipulation and stability for grasp. In this paper, we present the design and analysis of anthropomorphic robot hand and its experiment.
URI
http://pubs.kist.re.kr/handle/201004/36633
Appears in Collections:
KIST Publication > Conference Paper
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