Development of an Articulated Mechanical Hand with Enveloping Grasp Capability
Nobuaki Imamura*1, Yuya Nakamura*2, Seiichi Yamaoka*3,
Hidenori Shirasawa*4, and Hiroyuki Nakamoto*5
*1Department of Mechanics and Robotics, Faculty of Engineering, Hiroshima International University, 5-1-1 Hirokoshingai, Kure, Hiroshima 737-0112, Japan
*2Mechanical system advanced course, Kobe City College of Technology, 8-3 Gakuen-Higashimachi, Nishi-ku, Kobe 251-2194, Japan
*3Toyo Press Industry Co. Ltd., 1-9-36 Nagasu-Nishitori, Amagasaki, Hyogo 660-0807, Japan
*4The Advanced Materials Processing Institute Kinki Japan (AMPI), 7-1-8 Doi-cho, Amagasaki, Hyogo 660-0083, Japan
*5Hyogo Prefectural Institute of Technology, 3-1-12 Yukihira-cho, Suma-ku, Kobe 654-0037, Japan
Recently, factory automation and labor saving efforts have required that objects of different shapes and sizes be held and grasped by a single robot hand mechanism. To meet such needs, we have developed an articulated mechanical hand that has an enveloping grasp capability. Since this hand can envelope and grasp an object mechanically, it can be used widely in factories where parts of different shapes and sizes must be handled. This paper details the hand’s design which we developed using GaeaDrive® in its joint driving mechanism. Grasping configuration of the mechanical hand for different object sizes and conditions for realizing a suitable Grasping configuration are discussed analytically. And the usefulness of the developed mechanical hand is demonstrated experimentally.
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