Advances on the Development of a Robotic Hand with Movable Palm
This paper presents the development of a robotic hand with a movable palm configuration. The proposed design was developed as based on requirements that are obtained by some experiences with LARM hand and experiments with human hand. The conceptual design of the robotic hand is composed by a movable palm and one finger and its performance is based on underactuated mechanisms in order to only use one actuator for the palm and finger movements. This novel design pretends to improve the grasping performance of the LARM hand avoiding to increase the number of actuators. An experimental prototype was built in order to validate the robotic hand design and the obtained results show the viability of the underactuated mechanism to exert the grasping forces on different objects.
Keywordsrobotic hand underactuated mechanism movable palm
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