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Design and development of a dextrous manipulator

Harris, M., Kyberd, P. J. and Harwin, W. S. ORCID: (2005) Design and development of a dextrous manipulator. Transactions of the Institute of Measurement and Control, 27 (2). pp. 137-152. ISSN 1477-0369

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To link to this item DOI: 10.1191/0142331205tm139oa


This paper describes a novel method of actuation for robotic hands. The solution employs a Bowden cable routed to each joint. The use of a Bowden cable is shown to be feasible for this purpose, ever, with the changing frictional forces associated with it. This method greatly simplifies the control of the hand by removing the coupling between joints, and provides for direct and accurate translation between the joints and the servo motors driving the cables. The design also allows for two degrees of freedom with the same centre of rotation to be realized in the largest knuckle of each finger; thus biological finger kinematics are more closely emulated.

Item Type:Article
Divisions:Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:15256
Uncontrolled Keywords:anthropomorphic, assistive devices, Bowden cable, dextrous, manipulation, manipulators, robotics, HAND, GRIPPER, ROBOTICS

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