DocumentCode
2000685
Title
The design and development of the DIST-Hand dextrous gripper
Author
Caffaz, Andrea ; Cannata, Giorgio
Author_Institution
DIST, Genoa Univ., Italy
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2075
Abstract
Presents the first prototype of the DIST-Hand dextrous gripper. DIST-Hand is a 4-fingered tendon driven device with 16 degrees of freedom, designed for experiments in the area of grasping control, and tele-manipulation. The current version of the gripper is lightweight and can be easily installed on the various existing robots. The paper outlines the kinematic and structural characteristics of the hand. Furthermore, some general methodological issues addressed during the design phase are discussed
Keywords
actuators; manipulator kinematics; minimisation; sensors; telerobotics; 4-fingered tendon driven device; DIST-Hand dextrous gripper; grasping control; kinematic characteristics; structural characteristics; tele-manipulation; DC motors; Fingers; Grasping; Grippers; Humans; Kinematics; Prototypes; Pulleys; Robots; Tendons;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680623
Filename
680623
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