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Design and Development of a Linkage-Tendon Hybrid Driven Anthropomorphic Robotic Hand

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11740))

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Abstract

This paper presents the design and development of a linkage-tendon hybrid driven anthropomorphic robotic hand, i.e. MCR-Hand II. Structure design of the proposed robotic hand is presented and kinematics of the linkage and tendon driven based fingers is formulated. Then, workspace of the robotic hand is characterised and thumb opposability is investigated. Further, prototype of the robotic hand is developed, tested and evaluated.

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Author information

Authors and Affiliations

  1. School of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester, M13 9PL, UK

    Haosen Yang & Lei Ren

  2. School of Computing, Science and Engineering, University of Salford, Salford, M5 4WT, UK

    Guowu Wei

Authors
  1. Haosen Yang
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  2. Guowu Wei
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  3. Lei Ren
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Corresponding author

Correspondence to Guowu Wei .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Yang, H., Wei, G., Ren, L. (2019). Design and Development of a Linkage-Tendon Hybrid Driven Anthropomorphic Robotic Hand. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11740. Springer, Cham. https://doi.org/10.1007/978-3-030-27526-6_11

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  • DOI: https://doi.org/10.1007/978-3-030-27526-6_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27525-9

  • Online ISBN: 978-3-030-27526-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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