TY - GEN
T1 - Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation
AU - Hu, Zechen
AU - Zhou, Chunyang
AU - Li, Jinjian
AU - Hu, Quan
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.
PY - 2023
Y1 - 2023
N2 - This paper presents a newly developed small-sized, dexterous hand with multiple degrees of freedom (DOFs). With five fingers and a total of thirteen active degrees of freedom, this hand is comparable in size to an adult male’s hand. High-performance motors are installed in each finger, along with a combination of linkages and bevel gear mechanisms to ensure flexibility and high load capacity. The design of flexible linkages enhances the adaptive capability during grasping processes. The transmission mechanisms were analyzed to derive the inverse kinematic relationship between motor motion and finger joint motion. In addition, the DH parameters and four-bar linkage kinematics were utilized to calculate the workspace of the dexterous hand. Based on theoretical analysis of the workspace, it has been demonstrated that the dexterous hand has the ability to perform diverse tasks including object grasping and manipulation.
AB - This paper presents a newly developed small-sized, dexterous hand with multiple degrees of freedom (DOFs). With five fingers and a total of thirteen active degrees of freedom, this hand is comparable in size to an adult male’s hand. High-performance motors are installed in each finger, along with a combination of linkages and bevel gear mechanisms to ensure flexibility and high load capacity. The design of flexible linkages enhances the adaptive capability during grasping processes. The transmission mechanisms were analyzed to derive the inverse kinematic relationship between motor motion and finger joint motion. In addition, the DH parameters and four-bar linkage kinematics were utilized to calculate the workspace of the dexterous hand. Based on theoretical analysis of the workspace, it has been demonstrated that the dexterous hand has the ability to perform diverse tasks including object grasping and manipulation.
KW - Compact transmission
KW - Multiple degrees of freedom
KW - Robotic hand
UR - http://www.scopus.com/inward/record.url?scp=85175826373&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-6492-5_28
DO - 10.1007/978-981-99-6492-5_28
M3 - Conference contribution
AN - SCOPUS:85175826373
SN - 9789819964918
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 322
EP - 332
BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
A2 - Yang, Huayong
A2 - Liu, Honghai
A2 - Zou, Jun
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Yang, Geng
A2 - Ouyang, Xiaoping
A2 - Wang, Zhiyong
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Y2 - 5 July 2023 through 7 July 2023
ER -