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On the design of a novel dexterous hand.
| Content Provider | CiteSeerX |
|---|---|
| Abstract | This paper addresses the design and development of a single-motor-driven dexterous hand. The hand possesses the following characteristics: (1) single electric actuator mechanism for multi-DOF s through the use of clutches, (2) modular structure to support reconfigurability, and (3) cable-driven system to allow remote location of the actuator. Due to these features, the hand is able to provide a wide range of ability for various grasping and manipulation. In addition, the paper also conducts the kinematics analysis and develops an algorithm of torque calculation for the hand s control system modeling. Key words: Multi-fingered hand, service robot, grasping 1 |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Novel Dexterous Hand Following Characteristic Cable-driven System Control System Single Electric Actuator Mechanism Service Robot Multi-fingered Hand Various Grasping Wide Range Remote Location Kinematics Analysis Modular Structure Single-motor-driven Dexterous Hand Torque Calculation |
| Content Type | Text |
| Resource Type | Article |