Title :
A new design for a dexterous robotic hand mechanism
Author :
Guo, Gongliang ; Gruver, William A. ; Qian, Xikang
Author_Institution :
Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
Abstract :
An overview of dexterous hand mechanisms is presented. A description is given of the finger mechanism, tendon-drive configuration, and transmission chain of a multifingered nine-degree-of-freedom robot hand in which the finger mechanism has three joints and each joint uses two-way tendon-actuation by only one motor. The proposed configuration requires the same number of motors as degrees of freedom, making drive control hardware and software are simpler to implement.<>
Keywords :
robots; dexterous robotic hand mechanism; finger mechanism; multifingered nine-degree-of-freedom robot hand; tendon-drive configuration; transmission chain; two-way tendon-actuation; Actuators; Anthropomorphism; Cables; Couplings; Engine cylinders; Fingers; Robot sensing systems; Robotic assembly; Service robots; Thumb;
Journal_Title :
Control Systems, IEEE
