Mechanism design of a new multifingered robot hand
Resource
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Journal
1996 IEEE International Conference on Robotics and Automation
Pages
-
Date Issued
1996-04
Date
1996-04
Author(s)
Lin, Li-Ren
DOI
N/A
Abstract
A new five-finger robot hand (NTU hand) with seventeen degrees of freedom (DOF) is developed in this paper. In contrast to traditional tendon-driven robot, the NTU hand has an uncoupled configuration such that each finger and joint are all individually driven. While all actuators, mechanical parts and sensors are packed on the hand, the size of NTU hand is almost the same as a human hand. Such compact design makes the hand easily adapt to industrial robot arms and prosthetic applications. According to the mechanical structure of the NTU hand, the direct and inverse kinematics are also developed in this paper.
SDGs
Type
journal article
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