English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

This article presents a novel under-actuated robot hand, which has a thumb and two cooperative fingers. The thumb has two joints with 2 degrees of freedom driven by one motor. Each of the other two fingers has the same mechanism structure with the thumb and forms a cooperative mechanism, which is driven by only one motor with 4 degrees of freedom in total. All the under-actuated fingers are designed with the transmission mechanisms based on a kind of mechanism combined with the linkage mechanism and the passive elements. In this article, it is shown that under-actuated hand is able to reproduce most of the grasping behaviors of the human hand anthropomorphically and self-adaptively, without increasing the complexity of mechanism and control. The grasping stability analysis is given to help to understand the size range and load range of a stable grasp. Finally, the experiment results verify the high efficiency and stability of the novel mechanism.

A novel under-actuated bionic hand and its grasping stability analysis