Abstract：A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.
出版日期: 2006-03-05
引用本文:
. Superunderactuated Multifingered Hand for Humanoid Robot[J]. Frontiers of Mechanical Engineering in China, 2006, 1(1): 33-39.
ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei. Superunderactuated Multifingered Hand for Humanoid Robot. Front. Mech. Eng., 2006, 1(1): 33-39.
