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PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation
2020
Electronics
In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects. The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise manipulation, and two underactuated, tendon-driven digits for secure power grasping. For ease of reproducibility, the design uses as many off-the-shelf and 3D-printed components as possible. The on-board controller circuit and firmware are also
doi:10.3390/electronics9071147
fatcat:lirjausifbgabmdrejc5mt7dqa