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A study on underactuated six-bar human-like robotic hand

Abstract
In the early days,designer emphasized that human-like robotic hands should have high degree of freedoms(DOFs) and fully simulate all motions of human hands.It makes the system to be too expensive and complex. In recent years, the performance of grasp is no longer depend on the DOFs only after the concept of underactuated is applied.
In this article, we discussed the designs and mechanisms of robotic hands and the design principle of underactuated. The SYS-1 underactuated human-like robotic hand uses only six actuator to control ten DOFs, the fingers of SYS-1 consist of underactuated six-bar linkage that simulate human¡¦s fingers motion. The ejection effect is also well controlled. Every finger is an independent module and can be separate or deploy according to the needs. The conduit-tendon system let SYS-1 can work in the water or high temperature environment without any damage. We also analysis the motion characteristic and grasp performance of SYS-1 and compare to the other similar designs.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0809107-171120
Date09 August 2007
CreatorsWu, Chih-wei
ContributorsDer-min Tsay, Ying-chien Tsai, Innchyn Her, Albert J. Shih, Jao-hwa Kuang
PublisherNSYSU
Source SetsNSYSU Electronic Thesis and Dissertation Archive
LanguageCholon
Detected LanguageEnglish
Typetext
Formatapplication/pdf
Sourcehttp://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0809107-171120
Rightsnot_available, Copyright information available at source archive

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