naa a22 4500 510823688 CHVBK 20180411083546.0 cr unu---uuuuu 180411e20130401xx s 000 0 eng 10.1007/s12541-013-0074-2 doi (NATIONALLICENCE)springer-10.1007/s12541-013-0074-2 Development of an anthropomorphic robot hand with size and motion range identical to a human hand [Elektronische Daten] [Hyeong Kang, Dong Shin] The anthropomorphic robot hand with the linear actuators consisting of a motor and a lead screw has the stronger grasping power than the hand actuated by motors and insufficient gear reduction. This paper presents the UPS/RPS-RR parallel mechanism to use the linear actuators effectively for the robot hand. It enables us to get the forward/inverse kinematic solutions, while the previous mechanism for the linear actuator failed. Since the grasping motion of the developed hand is composed of the active motion of the proximal phalange and the passive motions of the middle and the distal phalanges, the linkage mechanism is designed to make the motion range of the phalanges the same as that of a human hand. Then, all the phalanges of each finger are bent gradually in the whole motion range from a completely opened hand to a closed hand as a human hand does. This robot hand has four fingers including a thumb. Each finger has 2-DOF and each proximal phalange is actuated by two linear actuators. The palm itself has 2-DOF to make the motion of the thumb and the small metacarpi similar to the natural palm arch of a human hand. Finally, instead of using specially manufactured actuators, the usage of commercial store-bought actuators enables our hand to be a cheaper candidate for the educational robot hand. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Robot hand nationallicence Anthropomorphic nationallicence Parallel mechanism nationallicence Phalange nationallicence Palm nationallicence Kinematics nationallicence Low cost nationallicence Of : position of the hinge between the metacarpus and the proximal phalange nationallicence Oa : position of the bottom of the parallel actuator nationallicence Hf : position of the hinge between the proximal and the middle nationallicence Af, Bf : end points of the proximal link nationallicence α : pitch angle of the proximal phalange nationallicence β : angle between y-axis of proximal and x-axis of middle nationallicence φ : yaw angle of the proximal phalange nationallicence D1a, D1b : end points of the 1st linear actuator nationallicence D2a, D2b : end points of the 2nd linear actuator nationallicence hc : effective length of the prismatic joint nationallicence N, P1, P2 : end points of the effective prismatic joint nationallicence Kang Hyeong Department of Mechanical and Information Engineering, University of Seoul, 163 Siripdaero (90 Jeonnong-dong), Dongdaemun-gu, 130-743, Seoul, South Korea aut Shin Dong Department of Mechanical and Information Engineering, University of Seoul, 163 Siripdaero (90 Jeonnong-dong), Dongdaemun-gu, 130-743, Seoul, South Korea aut International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/4(2013-04-01), 543-549 2234-7593 14:4<543 2013 14 12541 https://doi.org/10.1007/s12541-013-0074-2 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0074-2 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Kang Hyeong Department of Mechanical and Information Engineering, University of Seoul, 163 Siripdaero (90 Jeonnong-dong), Dongdaemun-gu, 130-743, Seoul, South Korea aut NATIONALLICENCE 700 1- Shin Dong Department of Mechanical and Information Engineering, University of Seoul, 163 Siripdaero (90 Jeonnong-dong), Dongdaemun-gu, 130-743, Seoul, South Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/4(2013-04-01), 543-549 2234-7593 14:4<543 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer