Design and implementation of a lightweight, large workspace, non-anthropomorphic dexterous hand

The design and implementation of a novel dexterous robotic hand is described. To provide flexibility of application the design features three fingers, each position or force controllable in X-Y-Z, and a large workspace (400 min dia. X 75 mm deep). These requirements plus the need for adequate strength (i.e. force and stiffness) are in conflict,vith the need to keep the mass within the payload capacity of common robots. These contrary objectives are met by designing a novel hybrid parallel-serial finger mechanism, a lightweight frame and pneumatic servos for finger actuation. The implemented design is verified experimentally, and may be scaled for other applications.