Publication

Hanyang University HumanRobotics Lab

International Conference
Development of a Three-Finger Linkage-Driven Robotic Hand
Conference
17th International Conference on Ubiquitous Robots (UR)
Author
L. Kang, B. -J. Yi
Year
2020
Date
2020.06.22
File
UR 2020_KANG LONG.pdf (701.5K) 0회 다운로드 DATE : 2020-10-21 20:51:42
Abstract : This work presents one linkage-driven robotic hand which has three fingers. Each finger is constructed by stacking one five–bar mechanism over one double parallelogram. This finger mechanism can be used to achieve the parallel and adaptive power grasping. Through adding a rotational actuator to the base of each finger, many types of grasping modes can be achieved by using this robotic hand. Development and experimental evaluation of this three-finger hand are reported in this work.