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Development of a Three-Finger Linkage-Driven Robotic Hand

Title
Development of a Three-Finger Linkage-Driven Robotic Hand
Author
이병주
Keywords
Robotic Hands; Mechanism and Design; Grasping
Issue Date
2020-06
Publisher
17th International Conference on Ubiquitous Robots (UR)
Citation
17th International Conference on Ubiquitous Robots (UR)
Abstract
This work presents one linkage-driven robotic hand which has three fingers. Each finger is constructed by stacking one five–bar mechanism over one double parallelogram. This finger mechanism can be used to achieve the parallel and adaptive power grasping. Through adding a rotational actuator to the base of each finger, many types of grasping modes can be achieved by using this robotic hand. Development and experimental evaluation of this three-finger hand are reported in this work.
URI
http://robotics.hanyang.ac.kr/bbs/board.php?bo_table=sub4_2&wr_id=225&sca=2020https://repository.hanyang.ac.kr/handle/20.500.11754/163396
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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