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

页码：476 / 481

页数：6

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