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

  • Haosen Yang
  • Guowu WeiEmail author
  • Lei Ren
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11740)

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.

Keywords

Anthropomorphic robotic hand Kinematics and workspace Grasping 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Mechanical, Aerospace and Civil EngineeringThe University of ManchesterManchesterUK
  2. 2.School of Computing, Science and EngineeringUniversity of SalfordSalfordUK

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