Development of a Versatile Multiple Prehension, Compliance Controlled Robotic End-Effector

摘要

Abstract The development of a versatile, multiple prehension, compliance control robotic end-effector is discussed. The mechanical hand utilizes three rubber fingers which bend when their internal pressure is elevated. The hand has a reduced number of degrees of freedom which simplifies its controller. The controller has been implemented on a personal computer. The maneuverability and kinematic capabilities of the developed hand are very promising.