Design and tests of a three finger hand with 1-DOF articulated fingers

Robotica

Volumn 24, Issue 2, 2006, Pages 183-196

  Ceccarelli, Marco ^a   Rodriguez, Nestor Eduardo Nava ^a   Carbone, Giuseppe ^a  

^a UNIVERSITY OF CASSINO AND SOUTHERN LAZIO   (Italy)

Author keywords

Anthropomorphic fingers; Grasping objects; Mechanical design

Indexed keywords

MAN MACHINE SYSTEMS; OBJECT RECOGNITION; PRODUCT DESIGN; RAPID PROTOTYPING;

ANTHROPOMORPHIC FINGERS; GRASPING OBJECTS; MECHANICAL DESIGN;

ROBOTICS;

EID: 33645371805     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574705002018     Document Type: Article

References (27)

1. D. T. Pham and W. B. Heginbotham, Robot Grippers (IFS Publications Ltd, Bedford, 1986).
2. M. E. Rosheim, "Robot Surrogate: Work in progress", International Conference on Robotics and Automation, Minnesota (1996) pp. 399-403.
3. M. R. Cutkosky, "On grasp choice, grasp model, and the design of hands for manufacturing tasks", IEEE Transactions on Robotics and Automation 5 (3), 269-279 (1989).
4. T. Iberal, "Human prehension and dexterous robot hands", Int. J. Robotics Research 6(3), 285-299 (1997).
5. J. K. Salisbury, "Design and control of an articulated hand", International Symposium on Design and Synthesis, Tokyo (1984) pp. 25-29.
6. N. Fukaya, S. Toyama, T. Asfour and R. Dillmann, "Design of the TUAT/Karlsruhe humanoid hand", IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu 3 (2000) Vol. 3, pp. 1754-1759.
7. J. Butterfass, M. Grebenstein, H. Liu and G. Hirzinger, "DLR-Hand II: Next generation of a dexterous robot hand", IEEE International Conference on Robotics and Automation, Seoul Korea (2001) pp. 109-114.
8. Y. Zhang, Z. Han, H. Zhan, X. Shang, T. Wang and W. Guo, "Design and control of the BUAA four-fingered hand", IEEE Transactions on Robotics and Automation (2001) pp. 2517-2522.
9. C. M. Gosselin, S. Mountambault and C. J. Gosselin, "Manus Colobi: Preliminary results on the design of a mechanical hand for industrial applications", 19th ASME Design Automation, Albuquerque (1993) pp. 585-592.
10. N. Dechev, W. L. Cleghorn and S. Nauman, "Multiple finger, passive adaptive grasp proshetic hand", Mechanism and Machine Theory 36, 1157-1173 (1999).
11. W. T. Townsend, "The barretthand grasper - programmably flexible parts handling and assembly", Industrial Robot: an international journal 27 (3), 181-188 (2000).
12. Y. Matusuoka, "The mechanisms in a humanoid robot hand", Autonomous Robots 4, 199-209 (1997).
13. T. Fukuda, K. Mase and F. Arai, "The design and development of a four-fingered robot hand", IEEE/RSJ International Conference on Intelligent Robots and Systems, Canada (1998) pp. 482-487.
14. T. Raparelli, G. Mattiazzo, S. Mauro and M. Velardocchia, "Design and develpment of a pneumatic anthropomorphic hand", Journal of Robotic Systems 17(1), 1-15 (2000).
15. S. T. Venkataraman and T. Iberall (Editors), Dexterous Robot Hands (Sprinter-Verlag, New York, 1989).
16. G. Figliolini and M. Ceccarelli, "A mechanical design of one D.O.F. anthropomorphic finger based on a human finger motion", ASME Design Engineering Technical Conferences DETC2000, Baltimore (2000), CD proceedings, paper MECH-14132.
17. G. Carbone, R. Civitillo and M. Ceccarelli, "Design and test of an articulated mechanism for a 1-dof anthropomorphic finger", ASME Design Engineering Technical Conferences DETC'02, Montreal (2002), CD proceedings, paper MECH-34300.
18. M. Ceccarelli, J. M. Jauregui, J. E. Parada, N. E. Nava, C. Lanni and G. Carbone, "Experimental activity for designing a hand with 1 Dof anthropomorphic fingers of human size", 12th International Workshop on Robotics in Alpe-Andria-Danuhe Region RAAD 2003, Cassino (2003), CD proceedings, paper 009RAAD03.
19. R. Civitillo, "Design and experimental validation of a 1 dof anthropomorphic finger", Master Thesis (LARM, University of Cassino, Italy 2001). (in Italian)
20. J. M. Jauregui, J. E. Parada and N. E. Nava, "Design of an anthropomorphic hand with three 1-dof fingers", Master Thesis (Universidad of Los Andes, Mérida, 2002). (Developed at LARM, University of Cassino, Italy), (in Spanish)
21. G. Figliolini and M. Ceccarelli, "Epicyclic gearings and timing belts for an articulated finger", 4th World Congress on Gearing and Power Transmission, Paris (1999) pp. 2533-2538.
22. Autodesk homepage, "Autodesk inventor 5.3 knowledge modules", http://www.usa.autodesk.com.
23. 3 family", Technical Data Sheet (2001).
24. Interlink Electronics, "FSR integration guide and evaluation parts catalog", PS - 3 Technical Data Sheet (2001).
25. National Instruments, "DAQ Acquisition board AT-MIO-16E-2", General Catalogue (1995).
26. National Instruments, "LabVIEW 6.0.2", Users Manual (1995).
27. Siemens homepage, "Queries related to Logo!", http://www.ad.siemens.de/logo.