Abstract
The cluster-tube self-adaptive robot hand (CTSA Hand) is used for grasping objects. The prototype of CTSA Hand provides a spatial discrete adaptive grasping function with considerable grasping force, but plenty of problems remain to be solved. In this paper, we conduct optimal design for certain factors that affect its grasping ability, and put forward a novel design of tendon-dividing CTSA Hand. Stronger grasping ability and better grasping effect are achieved, providing a reference for the design of other underactuated adaptive robot hands.
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Yang, H., Fu, H., Zhang, W. (2018). Capability Analysis and Optimal Design of Tendon-Driven Cluster-Tube Self-Adaptive Robot Hand. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_3
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DOI: https://doi.org/10.1007/978-3-319-97589-4_3
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