Abstract
Aiming at the shortcomings of series dexterous hand, a new multi-fingered dexterous hand is designed and analyzed based on the advantage of parallel mechanism. Firstly, according to the method of configuration synthesis, a three-degree-of-freedom parallel finger mechanism is proposed and its kinematics is analyzed. Then, based on the configuration of finger mechanism, a suitable palm is designed and combined into a multi-fingered dexterous hand. Finally, the grasping ability and reachable workspace of the parallel multi-fingered dexterous hand are analyzed and compared with the performance of the series dexterous hand. The results show that the multi-fingered dexterous hand based on parallel mechanism has good motion performance and engineering application prospects.
Publication Date
5-28-2019
First Page
127
Last Page
131
DOI
10.13652/j.issn.1003-5788.2019.05.023
Recommended Citation
Yuefa, FAND and Siyuan, ZHOU
(2019)
"Design and analysis of a parallel multi-fingered dexterous hand,"
Food and Machinery: Vol. 35:
Iss.
5, Article 23.
DOI: 10.13652/j.issn.1003-5788.2019.05.023
Available at:
https://www.ifoodmm.cn/journal/vol35/iss5/23
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