A Methodology for the Design of Robotic Hands with Multiple Fingers | Zendy

J.E. Parada Puig | Zendy; Néstor Eduardo Nava Rodríguez | Zendy; Marco Ceccarelli | Zendy

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A Methodology for the Design of Robotic Hands with Multiple Fingers

Author(s) -

J.E. Parada Puig,

Néstor Eduardo Nava Rodríguez,

Marco Ceccarelli

Publication year - 2008

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5600

Subject(s) - computer science , mechatronics , robotics , kinematics , artificial intelligence , process (computing) , robotic hand , actuator , engineering design process , selection (genetic algorithm) , design process , human–computer interaction , simulation , robot , mechanical engineering , work in process , engineering , physics , classical mechanics , operating system , operations management

This paper presents a methodology that has been applied for a design process of anthropomorphic hands with multiple fingers. Biomechanical characteristics of human hand have been analysed so that ergonomic and anthropometric aspects have been used as fundamental references for obtaining grasping mechanisms. A kinematic analysis has been proposed to define the requirements for designing grasping functions. Selection of materials and actuators has been discussed too. This topic has been based on previous experiences with prototypes that have been developed at the Laboratory of Robotics and Mechatronics (LARM) of the University of Cassino. An example of the application of the proposed method has been presented for the design of a first prototype of LARM Hand

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