Geometric Modeling of Planning anthropomorphic robot hand for manufacturing waterproof glove
Planning anthropomorphic robot hand for manufacturing waterproof glove,we adopt the geometric modeling method and develop a dexterous robot hand.This robot hand has powerful fingertip force and dexterous motion.This paper presents the design and experiments of this robot hand which has 7 actuated degrees of freedom.Each part of the robot hand has been established the geometric model.For acquiring the powerful force,the finger is driven by tendon,and the driving force from the actuators has been transmitted to the fingers by wire ropes in the arm.The prototype of this robot hand has been developed and tested.This experiment demonstrates that the robot hand can wear the glove efficiently and make accurate gestures which is the user expected.The application of this robot hand in the waterproof glove production line can save the physical labor.
Anthropomorphic robotic hand Geometric modeling Tendon-driven finger Coupling drawbar
Duan Zheng Xiaoping Liao Yuanyuan Liu Jianquan Sun Ruiqing Fu Xinyu Wu
College of mechanical and engineering, Guangxi University, Nanning, Guangxi,China;Shenzhen Institute College of mechanical and engineering, Guangxi University, Nanning, Guangxi,China Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen,Guangdong,China Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen,Guangdong,China;Dep
国际会议
香港
英文
1736-1741
2012-12-11（万方平台首次上网日期，不代表论文的发表时间）