Paper Title:
Workspace Analysis and Mechanical Innovation of YWZ Dexterous Hand
  Abstract

Degrees of freedom (DOFs) and workspace are important factors to evaluate the flexibility of the dexterous hand. This paper develops an original dexterous hand, which has 20 active DOFs and adjustable thumb. Imitating the human hand bone structure, we design a full driven multi-fingered anthropomorphic robot hand (YWZ dexterous hand). For the thumb of YWZ dexterous hand, we innovatively design a metacarpal phalange mechanical structure to adjust thumb’s assembly position and radial orientation relative the palm. We construct coordinate systems to deduce the finger kinematic equations and analyze the finger workspace. A physical prototype of YWZ dexterous hand was manufactured to test its kinematic characteristics and workspace. Experimental results validate the YWZ dexterous hand has large workspace, excellent operating flexibility.

  Info
Periodical
Chapter
Chapter 3: Mechanical Dynamics and its Applications
Edited by
Xiaodong Zhang, Zhijiu Ai, Prasad Yarlagadda and Yun-Hae Kim
Pages
557-565
DOI
10.4028/www.scientific.net/AMR.338.557
Citation
W. Z. Yang, H. Zhang, S. G. Yu, W. H. Chen, "Workspace Analysis and Mechanical Innovation of YWZ Dexterous Hand", Advanced Materials Research, Vol. 338, pp. 557-565, 2011
Online since
September 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Hai Huang, Shu Qiang Jiang, Yong Jie Pang, Jiang Li
Chapter 16: Advanced Design Technology
Abstract:In order to mimic the natural appearance, motion and perception of the human hand, a biomechatronic approach to design an anthropomorphic...
3281
Authors: Duan Zheng, Xiao Ping Liao, Yuan Yuan Liu, Juan Quan Sun, Rui Qing Fu, Xin Yu Wu
IV. Mechatronics, Control, Automation Technology and Equipment Development
Abstract:Planning anthropomorphic robot hand for manufacturing waterproof glove, we adopt the geometric modeling method and develop a dexterous robot...
1736