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
2010-09-01
656980 byte
Conference paper
Electronic Resource
English
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