DocumentCode
874720
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
Volume
12
Issue
4
fYear
1992
Firstpage
35
Lastpage
38
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;
fLanguage
English
Journal_Title
Control Systems, IEEE
Publisher
ieee
ISSN
1066-033X
Type
jour
DOI
10.1109/37.204938
Filename
204938
Link To Document