This paper presents a newly developed small-sized, dexterous hand with multiple degrees of freedom (DOFs). With five fingers and a total of thirteen active degrees of freedom, this hand is comparable in size to an adult male’s hand. High-performance motors are installed in each finger, along with a combination of linkages and bevel gear mechanisms to ensure flexibility and high load capacity. The design of flexible linkages enhances the adaptive capability during grasping processes. The transmission mechanisms were analyzed to derive the inverse kinematic relationship between motor motion and finger joint motion. In addition, the DH parameters and four-bar linkage kinematics were utilized to calculate the workspace of the dexterous hand. Based on theoretical analysis of the workspace, it has been demonstrated that the dexterous hand has the ability to perform diverse tasks including object grasping and manipulation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Hu, Zechen (author) / Zhou, Chunyang (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-16


    Size :

    11 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation

    Hu, Zechen / Zhou, Chunyang / Li, Jinjian et al. | TIBKAT | 2023


    Modeling and control of an anthropomorphic robotic hand

    Bensalah, Choukri | BASE | 2014

    Free access

    Design of non-anthropomorphic robotic hands for anthropomorphic tasks

    Simó Serra, Edgar / Moreno-Noguer, Francesc / Pérez Gracia, Alba | BASE | 2011

    Free access

    Design of non-anthropomorphic robotic hands for anthropomorphic tasks

    Simo-Serra, Edgar / Moreno-Noguer, Francesc / Perez-Gracia, Alba | BASE | 2011

    Free access

    Human motion range data optimizes anthropomorphic robotic hand-arm system design

    Panzer, Heiko / Eiberger, Oliver / Grebenstein, Markus et al. | German Aerospace Center (DLR) | 2008

    Free access