Manus Colobi: Preliminary Results on the Design of a Mechanical Hand for Industrial Applications

摘要

Abstract This paper presents the kinematic and mechanical design of Manus Colobi, a robotic mechanical hand developed for industrial applications. A review of the design constraints and a general discussion of the objective tasks to be performed by the hand are first presented. This leads to a description of the kinematic properties and the mechanical design of the hand. Applications envisioned for the hand are robust industrial tasks involving rather large forces which justifies the new design presented here.