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Recently, the development of a versatile robot hand aiming at the application to an artificial arm or a humanoid robot is in demand. In this paper, omni-directional bending mechanism which is called ldquodouble-screw-drive mechanismrdquo was applied to a robot hand. The robot hands with two fingers and three fingers were built. For the robot hand with three fingers, each fingertip was controlled so as to track the elliptical orbit and experiment was carried out. The DSD robot hand succeeded in rotating the cap of the PET bottle and removing the cap from the bottle.