In this paper is presented the design of a mechanical hand, for tele-operation tasks, which counts with movements similar to those made by a human hand, due to its number of joints (22 DOF) and structure built from the wrist. The relative movements between knuckles and the relationships between its three flexible arcs provide a bigger work space and better behavior to grasp voluminous and shapeless bodies, making a difference of mechanical anthropomorphic hands presented in other mechanical designs based on the rigid palm.
Mechanical Design of an Anthropomorphic Hand for Shapeless Object Grasping
01.09.2010
656980 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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