Robot Hand based on a Spherical Parallel Mechanism for Within-Hand Rotations about a Fixed Point
Vatsal V. Patel,Aaron M. Dollar,Vatsal V. Patel,Aaron M. Dollar
Rotating a grasped object about all three spatial axes is challenging, because kinematically redundant robot hands require complex control schemes for within-hand rotations, and simple parallel grippers require inefficient whole arm motions. We present a novel 3-finger robot hand design inspired by a spherical parallel mechanism that achieves these rotations with just 3 actuators. The hand is desi...
