期刊名称：Constantin Brancusi University's Annals, Letters and Social Sciences Serie
印刷版ISSN：1844-6051
出版年度：2011
期号：4
出版社：Academica Brancusi Publisher
摘要：In this paper work, the authors present the result of their researches, theoretical and experimental, regarding the realization of a hand underactivated with 5 fingers for industrial robots. The mechanism of the hand was designed with 15 degrees of liberty and only one drive. The underactivation in fingers was conceived in order to allow the adaptation to the object‟s shape and the liberty degrees are controlled by main springs and mechanical catches. The undeactivation between fingers was realized by a hydraulic mechanism of equalizing the very complex efforts. The articulated hand is able to be useful in catching the cylinders, the spheres and the plain surfaces including and delicate. The articulated hand was conceived by the authors as a maker for the industrial anthropomorphous robots and it represents the intermediate solution between the robotical hand for manipulation and the simple catchers.
关键词：Articulated hand; underactivation; ;phalanx; finger; normal contact force; mechanism of ;equalizing; pump plunger; industrial robot.
