Design of a Roller-Based Dexterous Hand for Object Grasping and Within-Hand Manipulation
Shenli Yuan,Austin D. Epps,Jerome B. Nowak,J. Kenneth Salisbury,Shenli Yuan,Austin D. Epps,Jerome B. Nowak,J. Kenneth Salisbury
This paper describes the development of a novel non-anthropomorphic robot hand with the ability to manipulate objects by means of articulated, actively driven rollers located at the fingertips. An analysis is conducted and systems of equations for two-finger and three-finger manipulation of a sphere are formulated to demonstrate full six degree of freedom nonholonomic spatial motion capability. A ...
