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Design and development of a dextrous manipulator

Harris, M. and Kyberd, P. (2003) Design and development of a dextrous manipulator. In: Parkin, R. M., AlHaibeh, A. and Jackson, M. R. (eds.) Icom 2003: International Conference on Mechatronics. Professional Engineering Publishing Ltd, Westminister, pp. 627-632. ISBN 1860584209

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This paper develops a novel method of actuation for robotic hands. The solution employs Bowden cable routed to each joint as the means by which the finger is actuated. The use of Bowden cable is shown to be feasible for this purpose, even with the changing frictional forces associated with it's use. This method greatly simplifies the control of the hand by removing the coupling between joints, and allows for direct and accurate translation between the joints and the motors driving the Bowden wires. The design also allows for two degrees of freedom (with the same centre of rotation) to be realised in the largest knuckle of each finger, meaning biological finger kinematics are more accurately emulated.

Item Type:Book or Report Section
ID Code:14397
Uncontrolled Keywords:HAND
Publisher:Professional Engineering Publishing Ltd

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