Development of a three-fingered robotic hand-wrist for compliant motion

被引：0
|
作者：
Nagai, K [1 ]
Eto, Y [1 ]
Asai, D [1 ]
Yazaki, M [1 ]
机构：
[1] Ritsumeikan Univ, Dept Robot, Shiga 525, Japan
来源：
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS | 1998年
关键词：
compliant motion; multifingered hand; force sensor; mechanical design;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper discusses development of a multifingered hand-wrist mechanism for compliant motion. First, a procedure for the mechanical design is proposed, and details of the procedure are shown using a simple two-fingered hand. Second, a three-fingered hand with wrist is designed based on the proposed design procedure, and a force sensor is also designed. Then a three-fingered hand-wrist mechanism with fifteen DOF is manufactured. Finally, basic experimental results are described to investigate part of the performance of the developed mechanism and the force sensor.
引用
收藏
页码：476 / 481
页数：6
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