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Mechanical Design of an Anthropomorphic Hand for Shapeless Object Grasping

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3 Author(s)
Villela, V.J.G. ; Dept. de Mecatronica, Univ. Nac. Autonoma de Mexico, Mexico ; Paniagua, V.G.A. ; Avilés, E.H.

In this paper is presented the design of a mechanical hand, for tele-operation tasks, which counts with movements similar to those made by a human hand, due to its number of joints (22 DOF) and structure built from the wrist. The relative movements between knuckles and the relationships between its three flexible arcs provide a bigger work space and better behavior to grasp voluminous and shapeless bodies, making a difference of mechanical anthropomorphic hands presented in other mechanical designs based on the rigid palm.

Published in:

Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010

Date of Conference:

Sept. 28 2010-Oct. 1 2010