Manipulation by a parallel-jaw gripper having a turntable at each fingertip

Abstract

This paper presents dextrous manipulation by a non-articulated multifingered hand. To achieve dextrous manipulation by a non-articulated multifingered hand, a parallel-jaw gripper which has a turntable at each fingertip has been developed. This hand has only one free rotation at each fingertip, but can achieve various manipulations. The design of this hand and manipulation using this hand are easier than with an articulated multifingered hand. In this paper, the mechanism of the new hand is presented and the manipulations possible with this hand when an object is placed in the lower pair are analyzed. The required conditions for achieving these manipulations are calculated.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>