A robotic hand mechanism with rotating fingertips and motor-tendon actuation

Author

Guo, Gongliang ; Gruver, William A. ; Qian, Xikang

Author_Institution

Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA

fYear

1991

fDate

13-16 Oct 1991

Firstpage

1023

Abstract

A design is presented for a multifingered dextrous robotic hand. Based on an analysis of the Utah/MIT hand, the Stanford/JPL hand, and the Belgrade/USC hand, four improvements are proposed for the mechanism, tendon-operated actuation, and functionality. A three-fingered, nine-degree-of-freedom robotic hand mechanism having nine DC servomotors, tendon actuation, rotating fingertips, and the capability for assembly operations is described. The tendon and transmission subsystems of this robotic hand are discussed. The specification of the mechanism and its applications are discussed and summarized

Keywords

DC motors; robots; servomotors; 3-fingered 9-d.o.f. hand; DC servomotors; motor-tendon actuation; multifingered dextrous robotic hand; nine-degree-of-freedom robotic hand; robotic hand mechanism; rotating fingertips; three-fingered hand; transmission subsystems; Anthropomorphism; Cables; Couplings; Engine cylinders; Fingers; Robot sensing systems; Robotic assembly; Service robots; Tendons; Thumb;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on

Conference_Location

Charlottesville, VA

Print_ISBN

0-7803-0233-8

Type

conf

DOI

10.1109/ICSMC.1991.169822

Filename

169822