Design and Analysis of Anthropomorphic Robot Hand
- Design and Analysis of Anthropomorphic Robot Hand
- 이석원; 이용훈; 이용권; 박종현
- Robot Hand; Parallel actuated; Anthropomorphic hand; multi-fingered hand
- Issue Date
- , 2A2-C10(1)-2A2-C10(3)
- 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.
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- KIST Publication > Conference Paper
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