A 3D-printed Robot Hand with Three Linkage-driven Underactuated Fingers View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2018-10

AUTHORS

Xia-Li Li, Li-Cheng Wu, Tian-Yi Lan

ABSTRACT

In this study, we improved an underactuated finger mechanism by using Solidworks to simulate the grasp operation of a finger in some different situations. In addition, a robot palm is designed for the three-finger robot hand with the designed underactuated fingers. A Solidworks simulation was used to verify the rationality of the design. Some parts of the hand were modified to fit for 3D printing, and a prototype of the hand was produced by 3D printing, which could reduce the cost of the production process, as well as provide design flexibility and other advantages. Finally, some grasping experiments were made with the prototype. The results showed that the robot could grasp objects with different sizes, and further verified the rationality of the design and feasibility of fabricating the robot hand using 3D printing. More... »

PAGES

593-602

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s11633-018-1125-z

DOI

http://dx.doi.org/10.1007/s11633-018-1125-z

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1104214162


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