Design and performance assessment of an underactuated hand for industrial applications

Title

Design and performance assessment of an underactuated hand for industrial applications

 Author

Meijneke, C.
Kragten, G.A.
Wisse, M.

Faculty

Mechanical, Maritime and Materials Engineering

 Department

Biomechanical Engineering

 Date

2011-02-08

 Abstract

The Delft Hand 2 (DH-2) is an underactuated robot hand meant for industrial applications, having six degrees of freedom (DoF), one actuator (DoA) and no sensors. It was designed to provide a cheap and robust hand to grasp a large range of objects without damaging them. The goal of this paper is to assess the design and performance of the DH-2, demonstrating how the design was optimized for its intended application area and how the hand was simplified to make it commercially attractive. Performance tests show that the DH-2 has a payload of 2 kg for an object range of 60 to 120 mm, it can close or open within 0.5 s, and it only uses open-loop control by means of the input voltage of the motor. The results demonstrate that the industrial need of a simple, cheap and effective robotic hand can be achieved with the principle of underactuation and the use of conventional components.

 To reference this document use:

http://resolver.tudelft.nl/uuid:09ce8f3e-5728-4065-978c-16f65539a344

 DOI

https://doi.org/10.5194/ms-2-9-2011

 Publisher

Copernicus Publications

 ISSN

2191-9151

 Source

http://www.mech-sci.net/2/9/2011/ms-2-9-2011.html

 Source

Mechanical Sciences, 2 (1), 2011

 Part of collection

Institutional Repository

 Document type

journal article

 Rights

(c) 2011 The Author(s)
CC Attribution 3.0 License
Files
PDF Meijneke_2011.pdf 926.55 KB
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