21-07-2011, 03:04 PM
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Introduction
What is robotic dexterous hand?
- a special kind of end-effector
- fundamental function: grasping and manipulation
- at least 3 fingers
- at least 9 degree of freedoms
Potential applications
- in extreme or harmful environments
eg. aerospace, underwater, nuclear, military
- service and entertainment
eg. humanoid
We take BH985 dexterous hand as example.
It was developed at Robotics Institute at Beihang
Goals of Design
Application:
- top level control strategy
- grasp planning algorithm
Specification:
- finger tip normal force: ≥10N
- size: close to human hand size
- active joint velocity: ≥ 1rad/s
- joint motion range: referred to human hand
- weight: ≤1.5kg
Hand Configuration
DOF allocation
Total:11
-thumb: 3
-index finger: 3
-middle finger: 3
-ring finger: 1
-pinky: 1
