Metamorphic dexterous hand based on joint coupling drive

Weijie Wang; Ran Wang

doi:10.1117/12.2689530

7 September 2023 Metamorphic dexterous hand based on joint coupling drive

Weijie Wang, Ran Wang

Proceedings Volume 12790, Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023); 1279025 (2023) https://doi.org/10.1117/12.2689530
Event: 8th International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023), 2023, Hangzhou, China

Abstract

In order to improve the problem of lack of finger dexterity due to the use of rigid palms in traditional manipulators, this paper designs a new type of dexterous hand with a variable cell structure based on the palm of a planar five-bar variable cell mechanism, combined with a three-finger structure that imitates the joint-coupled drive of a human finger. The introduction of the variable cell structure increases the working range and dexterity of the mechanism and also improves the adaptability of the dexterous hand to grasp objects of different sizes. This paper presents the mechanical structure, kinematic model, and simulation results of the working space of the variable cell mechanism dexterous hand.

Citation Download Citation

Weijie Wang and Ran Wang "Metamorphic dexterous hand based on joint coupling drive", Proc. SPIE 12790, Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023), 1279025 (7 September 2023); https://doi.org/10.1117/12.2689530

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